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from Part V - Hierarchical Refinement Models
Published online by Cambridge University Press: 19 May 2025
This chapter is about a refinement acting engine (RAE) used on a hierarchical task-oriented representation. It relies on an expressive, general-purpose language that offers rich programming control structures for online decision-making. A collection of refinement methods describes alternative ways to handle tasks and react to events. A method can be any complex algorithm, decomposing a task into subtasks and primitive actions. Subtasks are refined recursively. Nondeterministic actions trigger sensory-motor procedures that query and change the world nondeterministically. We assume that the methods are manually specified and that RAE chooses the appropriate method for the task and context at hand heuristically.
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