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#1 Plan-Space Explanation via Plan-Property Dependencies: Faster Algorithms & More Powerful Properties [PDF] [Copy] [Kimi] [REL]

Authors: Rebecca Eifler ; Marcel Steinmetz ; Álvaro Torralba ; Jörg Hoffmann

Justifying a plan to a user requires answering questions about the space of possible plans. Recent work introduced a framework for doing so via plan-property dependencies, where plan properties p are Boolean functions on plans, and p entails q if all plans that satisfy p also satisfy q. We extend this work in two ways. First, we introduce new algorithms for computing plan-property dependencies, leveraging symbolic search and devising pruning methods for this purpose. Second, while the properties p were previously limited to goal facts and so-called action-set (AS) properties, here we extend them to LTL. Our new algorithms vastly outperform the previous ones, and our methods for LTL cause little overhead on AS properties.