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\n  \n 2022\n \n \n (1)\n \n \n
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\n \n\n \n \n \n \n \n \n Hierarchical Planning and Reasoning about Partially Ordered Plans – From Theory to Practice.\n \n \n \n \n\n\n \n Pascal Bercher.\n\n\n \n\n\n\n AI Magazine,353–364. 2022.\n \n\n\n\n
\n\n\n\n \n \n \"Hierarchical paper\n  \n \n \n \"Hierarchical paper-wiley\n  \n \n \n \"Hierarchical paper-aaai\n  \n \n \n \"Hierarchical video of presentation\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Bercher2022SurveyOfOwnWork,\n  author    = {Pascal Bercher},\n  title     = {Hierarchical Planning and Reasoning about Partially Ordered Plans -- From Theory to Practice},\n  journal   = {AI Magazine},\n  year      = {2022},\n  abstract  = {This invited paper (part of the New Faculty Highlights Invited Speaker Program of AAAI'21) surveys my work done until today. The reviewed work focuses on hierarchical task network (HTN) planning as well as on partial order causal link (POCL) planning. Lines of research include theoretical investigations (mostly computational complexity analyses), heuristic search, as well as the practical application of the technology for planning-based assistants which support a human user in carrying out various tasks.},\n  doi       = {10.1002/aaai.12073},\n  pages     = {353--364},\n  publisher = {John Wiley \\& Sons, Ltd},\n  url_Paper = {https://bercher.net/publications/2022/Bercher2022SurveyOfOwnWork.pdf},\n  url_Paper-Wiley = {https://onlinelibrary.wiley.com/doi/epdf/10.1002/aaai.12073},\n  url_Paper-AAAI  = {https://ojs.aaai.org/index.php/aimagazine/article/view/22007},\n  url_video_of_presentation = {https://slideslive.com/38952027/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice}\n}\n\n
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\n This invited paper (part of the New Faculty Highlights Invited Speaker Program of AAAI'21) surveys my work done until today. The reviewed work focuses on hierarchical task network (HTN) planning as well as on partial order causal link (POCL) planning. Lines of research include theoretical investigations (mostly computational complexity analyses), heuristic search, as well as the practical application of the technology for planning-based assistants which support a human user in carrying out various tasks.\n
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\n  \n 2021\n \n \n (3)\n \n \n
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\n \n\n \n \n \n \n \n \n Do It Yourself, but Not Alone: Companion-Technology for Home Improvement – Bringing a Planning-Based Interactive DIY Assistant to Life.\n \n \n \n \n\n\n \n Pascal Bercher; Gregor Behnke; Matthias Kraus; Marvin Schiller; Dietrich Manstetten; Michael Dambier; Michael Dorna; Wolfgang Minker; Birte Glimm; and Susanne Biundo.\n\n\n \n\n\n\n Künstliche Intelligenz – Special Issue on NLP and Semantics, 35: 367–375. 2021.\n \n\n\n\n
\n\n\n\n \n \n \"Do paper free-access\n  \n \n \n \"Do paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 17 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Bercher2021DIY,\n  author    = {Pascal Bercher and Gregor Behnke and Matthias Kraus and Marvin Schiller and Dietrich Manstetten and Michael Dambier and Michael Dorna and Wolfgang Minker and Birte Glimm and Susanne Biundo},\n  title     = {Do It Yourself, but Not Alone: Companion-Technology for Home Improvement -- Bringing a Planning-Based Interactive DIY Assistant to Life},\n  journal   = {K{\\"u}nstliche Intelligenz -- Special Issue on NLP and Semantics},\n  year      = {2021},\n  abstract  = {We report on the technology transfer project “Do it yourself, but not alone: Companion-Technology for Home Improvement” that was carried out by Ulm University in cooperation with Robert Bosch GmbH. We developed a prototypical assistance system that assists a Do It Yourself (DIY) handyman in carrying out DIY projects. The assistant, based on various AI and dialog management capabilities, generates a sequence of detailed instructions that users may just follow or adapt according to their individual preferences. It features explanation capabilities as well as pro-active support based on communication with the user as well as with the involved tools. We report on the project’s main achievements, including the findings of various empirical studies conducted in various development stages of the prototype.},\n  doi       = {10.1007/s13218-021-00721-x},\n  pages     = {367--375},\n  volume    = {35},\n  url_Paper_free-access = {https://rdcu.be/cmGwb},\n  url_Paper = {https://link.springer.com/article/10.1007/s13218-021-00721-x}\n}\n\n\n
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\n\n\n
\n We report on the technology transfer project “Do it yourself, but not alone: Companion-Technology for Home Improvement” that was carried out by Ulm University in cooperation with Robert Bosch GmbH. We developed a prototypical assistance system that assists a Do It Yourself (DIY) handyman in carrying out DIY projects. The assistant, based on various AI and dialog management capabilities, generates a sequence of detailed instructions that users may just follow or adapt according to their individual preferences. It features explanation capabilities as well as pro-active support based on communication with the user as well as with the involved tools. We report on the project’s main achievements, including the findings of various empirical studies conducted in various development stages of the prototype.\n
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\n \n\n \n \n \n \n \n \n The PANDA Framework for Hierarchical Planning.\n \n \n \n \n\n\n \n Daniel Höller; Gregor Behnke; Pascal Bercher; and Susanne Biundo.\n\n\n \n\n\n\n KI – Künstliche Intelligenz, 35: 391–396. 2021.\n \n\n\n\n
\n\n\n\n \n \n \"The paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Hoeller2021PANDA,\n  author   = {Daniel H\\"oller and Gregor Behnke and Pascal Bercher and Susanne Biundo},\n  title    = {The PANDA Framework for Hierarchical Planning},\n  journal  = {KI -- Künstliche Intelligenz},\n  year     = {2021},\n  doi      = {10.1007/s13218-020-00699-y},\n  abstract = {During the last years, much progress has been made in hierarchical planning towards domain-independent systems that come with sophisticated techniques to solve planning problems instead of relying on advice in the input model. Several of these novel methods have been integrated into the PANDA framework, which is a software system to reason about hierarchical planning tasks. Besides solvers for planning problems based on plan space search, progression search, and translation to propositional logic, it also includes techniques for related problems like plan repair, plan and goal recognition, or plan verification. These various techniques share a common infrastructure, like e.g. a standard input language or components for grounding and reachability analysis. This article gives an overview over the PANDA framework, introduces the basic techniques from a high level perspective, and surveys the literature describing the diverse components in detail.},\n  pages     = {391--396},\n  volume    = {35},\n  url_Paper = {https://link.springer.com/epdf/10.1007/s13218-020-00699-y}\n}\n\n\n\n
\n
\n\n\n
\n During the last years, much progress has been made in hierarchical planning towards domain-independent systems that come with sophisticated techniques to solve planning problems instead of relying on advice in the input model. Several of these novel methods have been integrated into the PANDA framework, which is a software system to reason about hierarchical planning tasks. Besides solvers for planning problems based on plan space search, progression search, and translation to propositional logic, it also includes techniques for related problems like plan repair, plan and goal recognition, or plan verification. These various techniques share a common infrastructure, like e.g. a standard input language or components for grounding and reachability analysis. This article gives an overview over the PANDA framework, introduces the basic techniques from a high level perspective, and surveys the literature describing the diverse components in detail.\n
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\n \n\n \n \n \n \n \n \n Report on the First and Second Workshops on Hierarchical Planning Held at the International Conference on Automated Planning and Scheduling.\n \n \n \n \n\n\n \n Pascal Bercher; Daniel Höller; Gregor Behnke; Susanne Biundo; Vikas Shivashankar; and Ron Alford.\n\n\n \n\n\n\n AI Magazine, 42(1): 83–85. 2021.\n \n\n\n\n
\n\n\n\n \n \n \"Report paper\n  \n \n \n \"ReportPaper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Bercher2021HPlanWorkshopReport,\n  author    = {Pascal Bercher and Daniel H\\"oller and Gregor Behnke and Susanne Biundo and Vikas Shivashankar and Ron Alford},\n  title     = {Report on the First and Second Workshops on Hierarchical Planning Held at the International Conference on Automated Planning and Scheduling},\n  journal   = {AI Magazine},\n  year      = {2021},\n  volume    = {42},\n  number    = {1},\n  pages     = {83--85},\n  abstract  = {Hierarchical planning has attracted renewed interest in the last couple of years. As a consequence, the time was right to establish a workshop devoted entirely to hierarchical planning -- an insight shared by many supporters. In this paper we report on the first ICAPS workshop on Hierarchical Planning held in Delft, The Netherlands, in 2018 as well as on the second workshop held in Berkeley, CA, USA, in 2019.},\n  url_Paper = {https://bercher.net/publications/2021/Bercher2021HPlanWorkshopReport.pdf},\n  url       = {https://ojs.aaai.org/index.php/aimagazine/article/view/7393},\n}\n\n\n\n
\n
\n\n\n
\n Hierarchical planning has attracted renewed interest in the last couple of years. As a consequence, the time was right to establish a workshop devoted entirely to hierarchical planning – an insight shared by many supporters. In this paper we report on the first ICAPS workshop on Hierarchical Planning held in Delft, The Netherlands, in 2018 as well as on the second workshop held in Berkeley, CA, USA, in 2019.\n
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\n  \n 2020\n \n \n (1)\n \n \n
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\n \n\n \n \n \n \n \n \n HTN Planning as Heuristic Progression Search.\n \n \n \n \n\n\n \n Daniel Höller; Pascal Bercher; Gregor Behnke; and Susanne Biundo.\n\n\n \n\n\n\n Journal of Artificial Intelligence Research (JAIR), 67: 835–880. 2020.\n \n\n\n\n
\n\n\n\n \n \n \"HTN paper\n  \n \n \n \"HTN paper by-publisher\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 13 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{Hoeller2020HTNProgression,\n  author    = {Daniel H\\"oller and Pascal Bercher and Gregor Behnke and Susanne Biundo},\n  title     = {HTN Planning as Heuristic Progression Search},\n  journal   = {Journal of Artificial Intelligence Research (JAIR)},\n  year      = {2020},\n  volume    = {67},\n  pages     = {835--880},\n  doi       = {10.1613/jair.1.11282},\n  abstract  = {The majority of search-based HTN planning systems can be divided into those searching a space of partial plans (a plan space) and those performing progression search, i.e., that build the solution in a forward manner. So far, all HTN planners that guide the search by using heuristic functions are based on plan space search. Those systems represent the set of search nodes more effectively by maintaining a partial ordering between tasks, but they have only limited information about the current state during search. In this article, we propose the use of progression search as basis for heuristic HTN planning systems. Such systems can calculate their heuristics incorporating the current state, because it is tracked during search. Our contribution is the following: We introduce two novel progression algorithms that avoid unnecessary branching when the problem at hand is partially ordered and show that both are sound and complete. We show that defining systematicity is problematic for search in HTN planning, propose a definition, and show that it is fulfilled by one of our algorithms. Then, we introduce a method to apply arbitrary classical planning heuristics to guide the search in HTN planning. It relaxes the HTN planning model to a classical model that is only used for calculating heuristics. It is updated during search and used to create heuristic values that are used to guide the HTN search. We show that it can be used to create HTN heuristics with interesting theoretical properties like safety, goal-awareness, and admissibility. Our empirical evaluation shows that the resulting system outperforms the state of the art in search-based HTN planning.},\n  url_Paper ={https://bercher.net/publications/2020/Hoeller2020HTNProgressionSearch.pdf},\n  url_Paper_by-publisher = {https://jair.org/index.php/jair/article/view/11282/26578}\n}\n\n\n
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\n The majority of search-based HTN planning systems can be divided into those searching a space of partial plans (a plan space) and those performing progression search, i.e., that build the solution in a forward manner. So far, all HTN planners that guide the search by using heuristic functions are based on plan space search. Those systems represent the set of search nodes more effectively by maintaining a partial ordering between tasks, but they have only limited information about the current state during search. In this article, we propose the use of progression search as basis for heuristic HTN planning systems. Such systems can calculate their heuristics incorporating the current state, because it is tracked during search. Our contribution is the following: We introduce two novel progression algorithms that avoid unnecessary branching when the problem at hand is partially ordered and show that both are sound and complete. We show that defining systematicity is problematic for search in HTN planning, propose a definition, and show that it is fulfilled by one of our algorithms. Then, we introduce a method to apply arbitrary classical planning heuristics to guide the search in HTN planning. It relaxes the HTN planning model to a classical model that is only used for calculating heuristics. It is updated during search and used to create heuristic values that are used to guide the HTN search. We show that it can be used to create HTN heuristics with interesting theoretical properties like safety, goal-awareness, and admissibility. Our empirical evaluation shows that the resulting system outperforms the state of the art in search-based HTN planning.\n
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\n  \n 2019\n \n \n (1)\n \n \n
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\n \n\n \n \n \n \n \n \n Alice in DIY wonderland or: Instructing novice users on how to use tools in DIY projects.\n \n \n \n \n\n\n \n Gregor Behnke; Marvin Schiller; Matthias Kraus; Pascal Bercher; Mario Schmautz; Michael Dorna; Michael Dambier; Wolfgang Minker; Birte Glimm; and Susanne Biundo.\n\n\n \n\n\n\n AI Communications, 32(1): 31–57. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"Alice paper\n  \n \n \n \"Alice domain-model\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Behnke2019DIYWonderland,\n   author    = {Behnke, Gregor and Schiller, Marvin and Kraus, Matthias and Pascal Bercher and Schmautz, Mario and Dorna, Michael and Dambier, Michael and Minker, Wolfgang and Glimm, Birte and Biundo, Susanne},\n   title     = {Alice in {DIY} wonderland or: Instructing novice users on how to use tools in {DIY} projects},\n   journal   = {AI Communications},\n   year      = {2019},\n   publisher = {IOS Press},\n   doi       = {10.3233/AIC-180604},\n   volume    = {32},\n   number    = {1},\n   pages     = {31--57},\n   abstract  = {We present the interactive assistant R OBERT that provides situation-adaptive support in the realisation of do-it-yourself (DIY) home improvement projects. ROBERT assists its users by providing comprehensive step-by-step instructions for completing the DIY project. Each instruction is illustrated with detailed graphics, written and spoken text, as well as with videos. They explain how the steps of the project have to be prepared and assembled and give precise instructions on how to operate the required electric devices. The step-by-step instructions are generated by a hierarchical planner, which enables ROBERT to adapt to a multitude of environments easily. Parts of the underlying model are derived from an ontology storing information about the available devices and resources. A dialogue manager capable of natural language interaction is responsible for hands-free interaction. We explain the required background technology and present preliminary results of an empirical evaluation.},\n   url_Paper = {https://bercher.net/publications/2019/Behnke2019DIYWonderland.pdf},\n   url_domain-model = {https://bercher.net/publications/2019/Behnke2019DIYWonderlandDomain.zip}\n}\n\n\n\n
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\n We present the interactive assistant R OBERT that provides situation-adaptive support in the realisation of do-it-yourself (DIY) home improvement projects. ROBERT assists its users by providing comprehensive step-by-step instructions for completing the DIY project. Each instruction is illustrated with detailed graphics, written and spoken text, as well as with videos. They explain how the steps of the project have to be prepared and assembled and give precise instructions on how to operate the required electric devices. The step-by-step instructions are generated by a hierarchical planner, which enables ROBERT to adapt to a multitude of environments easily. Parts of the underlying model are derived from an ontology storing information about the available devices and resources. A dialogue manager capable of natural language interaction is responsible for hands-free interaction. We explain the required background technology and present preliminary results of an empirical evaluation.\n
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\n  \n 2016\n \n \n (1)\n \n \n
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\n \n\n \n \n \n \n \n \n Companion-Technology: An Overview.\n \n \n \n \n\n\n \n Susanne Biundo; Daniel Höller; Bernd Schattenberg; and Pascal Bercher.\n\n\n \n\n\n\n Künstliche Intelligenz, 30(1): 11–20. 2016.\n Special Issue on Companion Technologies\n\n\n\n
\n\n\n\n \n \n \"Companion-Technology: paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Biundo2016CompanionSurvey,\n  Title                    = {Companion-Technology: An Overview},\n  Author                   = {Susanne Biundo and Daniel H\\"oller and Bernd Schattenberg and Pascal Bercher},\n  Journal                  = {K{\\"u}nstliche Intelligenz},\n  Year                     = {2016},\n  Note                     = {Special Issue on Companion Technologies},\n  Number                   = {1},\n  Pages                    = {11--20},\n  Volume                   = {30},\n  Doi                      = {10.1007/s13218-015-0419-3},\n  abstract                 = {Companion-technology is an emerging field of cross-disciplinary research. It aims at developing technical systems that appear as "Companions" to their users. They serve as co-operative agents assisting in particular tasks or, in a more general sense, even give companionship to humans. Overall, Companion-technology enables technical systems to smartly adapt their services to individual users' current needs, their requests, situation, and emotion. We give an introduction to the field, discuss the most relevant application areas that will benefit from its developments, and review the related research projects.},\n  url_Paper                = {https://bercher.net/publications/2016/Biundo2016CompanionSurvey.pdf}\n}\n\n\n
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\n Companion-technology is an emerging field of cross-disciplinary research. It aims at developing technical systems that appear as \"Companions\" to their users. They serve as co-operative agents assisting in particular tasks or, in a more general sense, even give companionship to humans. Overall, Companion-technology enables technical systems to smartly adapt their services to individual users' current needs, their requests, situation, and emotion. We give an introduction to the field, discuss the most relevant application areas that will benefit from its developments, and review the related research projects.\n
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\n  \n 2011\n \n \n (1)\n \n \n
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\n \n\n \n \n \n \n \n \n Advanced user assistance based on AI planning.\n \n \n \n \n\n\n \n Susanne Biundo; Pascal Bercher; Thomas Geier; Felix Müller; and Bernd Schattenberg.\n\n\n \n\n\n\n Cognitive Systems Research, 12(3-4): 219–236. 4 2011.\n Special Issue on Complex Cognition\n\n\n\n
\n\n\n\n \n \n \"Advanced paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Biundo2011AdvancedAssistance,\n  author   = {Susanne Biundo and Pascal Bercher and Thomas Geier and Felix M\\"uller and Bernd Schattenberg},\n  title    = {Advanced user assistance based on {AI} planning},\n  journal  = {Cognitive Systems Research},\n  year     = {2011},\n  volume   = {12},\n  pages    = {219--236},\n  number   = {3-4},\n  month    = {4},\n  note     = {Special Issue on Complex Cognition},\n  doi      = {10.1016/j.cogsys.2010.12.005},\n  abstract = {Artificial Intelligence technologies enable the implementation of cognitive systems with advanced planning and reasoning capabilities. This article presents an approach to use hybrid planning -- a method that combines reasoning about procedural knowledge and causalities -- to provide user-centered assistance. Based on a completely declarative description of actions, tasks, and solution methods, hybrid planning allows for the generation of knowledge-rich plans of action. The information those plans comprise includes causal dependencies between actions on both abstract and primitive levels as well as information about their hierarchical and temporal relationships. We present the hybrid planning approach in detail and show its potential by describing the realization of various assistance functionalities based on complex cognitive processes like the generation, repair, and explanation of plans. Advanced user assistance is demonstrated by means of a practical application scenario where an innovative electronic support mechanism helps a user to operate a complex mobile communication device.},\n  url_Paper = {https://bercher.net/publications/2011/Biundo2011AdvancedAssistance.pdf}\n}\n\n\n\n
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\n Artificial Intelligence technologies enable the implementation of cognitive systems with advanced planning and reasoning capabilities. This article presents an approach to use hybrid planning – a method that combines reasoning about procedural knowledge and causalities – to provide user-centered assistance. Based on a completely declarative description of actions, tasks, and solution methods, hybrid planning allows for the generation of knowledge-rich plans of action. The information those plans comprise includes causal dependencies between actions on both abstract and primitive levels as well as information about their hierarchical and temporal relationships. We present the hybrid planning approach in detail and show its potential by describing the realization of various assistance functionalities based on complex cognitive processes like the generation, repair, and explanation of plans. Advanced user assistance is demonstrated by means of a practical application scenario where an innovative electronic support mechanism helps a user to operate a complex mobile communication device.\n
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