Goal Reasoning , Planning , and Acting with A C T O R S I M , The Actor Simulator 1

Goal reasoning is maturing as a field, but it lacks a model with clear semantics in a readily available implementation that researchers can build upon. This paper presents contributions that address this gap. First, we formalize goal reasoning with crisp semantics by extending a recent formalism called goal-task network planning. Second, we describe an open source package, called A C T O R S I M , that partially implements the semantics of the formal model. Finally, we use ActorSim in a study to examine whether a machine learning technique can improve subgoal selection using goal reasoning in the game of Minecraft. The study reveals that simple mechanisms for gathering experience improve over less knowledge intensive or random approaches for the domain we study.

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