ICARUS: Labyrinth (Memory)

Description

• Maintains a probabilistic concept tree
• All knowledge stored as concepts, including physical objects, events, plans, and actions
• "Each node in the hierarchy specifies the probability of class membership of an experience, given that the experience is a member of the parent class"
• States are qualitative
• Labyrinth sorts each component of an experience through the hierarchy
• Utilizes a category utility function to traverse down the tree
• New experiences are stored in new terminal nodes
• Averages probabilistic descriptions of experiences in current descriptions of each node as the experience descend the hierarchy
• Generalizes composite objects
• Stores three additional probabilities for plans and motor skills:
  • chance of successful execution, controlling reactivity
  • chance of backtracking, controlling degree of execution while planning
  • chance of use in analogous problems, controlling reliance on stored plans vs. search heuristics