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What does a method in a hierarchical planner specify?

  • A.How one task may be decomposed into subtasks
  • B.Which action should be executed in a given state
  • C.The cost of achieving a particular task
  • D.The order in which goals should be attempted

Answer: A

A method names a task, states the conditions under which the decomposition applies and gives the subtasks with their ordering constraints. Several methods for one task give the planner alternatives to search over. Action selection, costs and goal ordering are different notions. Encoding recipes rather than only physics is what distinguishes hierarchical planning from the classical formulation.

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