A Critical Look at Knoblock's Hierarchy Mechanism
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TL;DR
It is shown that Knoblock's method, and more generally, the principle of ordered monotonicity, can produce hierarchies that perform arbitrarily poorly and a technique is proposed based on evaluating the number of potential solutions to different possible subgoals in a plan.
Abstract
Recently, Knoblock has advocated a mechanism for automatically constructing planning hierarchies. We show that Knoblock's method, and more generally, the principle of ordered monotonicity, can produce hierarchies that perform arbitrarily poorly. The reason is that Knoblock's technique addresses only one of two important factors in ordering clauses. We propose a technique for the other based on evaluating the number of potential solutions to different possible subgoals in a plan.