Do You See What I See? An Egocentric View of our Pansophical Planning Problems


Classical planning takes a pansophical view of the world: everything is fully known, observed, and static. While there are extensions to partial observability, this leapfrogs an important intermediate step of embodied agent design: egocentricity. In this work, we propose a semi-automated mechanism that allows planning domain designers to convert classical planning problems into an egocentric alternative. The generated planning problems are classical as well, and we introduce an open-loop replanning mechanism that progressively explores the egocentric space until the original goal is solved (or deemed unsolvable). Our work serves as a crucial first step towards embodied agents that can be equipped with an appropriately specified egocentric version of known environment dynamics.

ICAPS Workshop on Integrated Planning, Acting, and Execution (IntEx)