Abstract

Goal-driven autonomy (GDA) agents reason about goals while introspectively examining if their course of action matches their expectations. Many GDA agents adopt a hierarchical planning model to generate plans but limit reasoning with expec-tations to individual actions or projecting the ex-pected state. In this paper we present a relaxation of this limitation. Taking advantage of hierarchical planning principles, our GDA agent elicits expec-tations that not only validate the next action but the overall plan trajectory without requiring validation against the complete state. We report on (1) a for-malization of GDA’s expectations that covers tra-jectories, (2) an implementation of these ideas and (3) benchmarking on two domains used in the GDA literature. 1