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By Kristian J. Hammond

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They can just be the modifications that are needed to alter an existing plan to achieve that goal. Access to these modification rules will allow a MODIFIER to add new steps to a plan in a way that is sensitive to the type of plan being modified and the particular goal that is being satisfied. A MODIFIER also needs information about specific objects in its domain that outlines how it should accommodate specific features of these objects while using its more general rules. This information, in the form of special purpose critics, will let it tailor the general modifications of a plan to the specific needs of the items required to achieve particular goals.

The STORER indexes the new plan by the goals it achieves and the problems it avoids. Now the plan can be used again in similar circumstances in the future. While the REPAIRER is repairing the plan, the ASSIGNER is deciding which features in the original request, that is, which goals, interacted to cause the failure to occur. Once it has done this, it marks these features as predictive of the problem so that the ANTICIPATOR can anticipate the problem if it encounters the goals in a later input. This planner does two things as it builds a plan.

This information cannot be tied to any individual goal or plan but is instead tied to problems that rise out of their combination. In planning, one important aspect of this information concerns how to deal with problems due to the interactions between plan steps. Planning TOPs provide a means to store this information. Each TOP corresponds to a planning problem due to the causal interaction between the steps and the states of a plan. When 40 CHAPTER 2. LEARNING FROM PLANNING a problem arises, a causal analysis of it provides the information needed to identify the TOP that actually describes the problem in abstract terms.

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