The next level consists of two operators: pick-up and put-down and they arise in an operator no-change for move-block. The rules for these are found under move-block. This level introduces the gripper, which can be holding a block or empty and is a structure on the top state.
The bottom level has a variety of operators: open-gripper, close-gripper, move-gripper-above, move-gripper-down, and move-gripper-up. The structures manipulated by these operators are part of the gripper structure on the top state. These operators arise in an operator no-change for both pick-up and put-down and the rules for them are under pick-up.
Includes gripper status to state. Execution is done through top-state rules that simulate changes to the io-link
Works with chunking, which compiles the actions in the substates into rules that apply at the top-state. Use the command "learn -e" to turn on chunking, run the agent once, init-soar then run the agent again to see how the learned productions eliminate the need to subgoal in the second run.
- Hierarchical task composition via subgoaling
- Internally simulates external environment including an i/o link
- The Soar Cognitive Architecture: Chapter 4
- John Laird
- Soar 8,9