Gregor Behnke – Publications

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2021

Roman Barták, Simona Ondrčková, Gregor Behnke and Pascal Bercher.
Correcting Hierarchical Plans by Action Deletion.
In Proceedings of the 18th International Conference on Principles of Knowledge Representation and Reasoning (KR-2021). 2021.
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Roman Barták, Simona Ondrčková, Gregor Behnke and Pascal Bercher.
Correcting Hierarchical Plans by Action Deletion.
In Proceedings of the Fourth ICAPS Workshop on Hierarchical Planning. 2021.
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Roman Barták, Simona Ondrčková, Gregor Behnke and Pascal Bercher.
On the Verification of Totally-Ordered HTN Plans.
In Proceedings of the Fourth ICAPS Workshop on Hierarchical Planning, pp. 44-48. 2021.
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Daniel Höller, Julia Whichlacz, Pascal Bercher and Gregor Behnke.
Compiling HTN Plan Verification Problems into HTN Planning Problems.
In Proceedings of the Fourth ICAPS Workshop on Hierarchical Planning, pp. 8-15. 2021.
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Pascal Bercher, Gregor Behnke, Matthias Kraus, Marvin Schiller, Dietrich Manstetten, Michael Dambier, Michael Dorna, Wolfgang Minker, Birte Glimm and Susanne Biundo.
Do It Yourself, but Not Alone: Companion-Technology for Home Improvement - Bringing a Planning-Based Interactive DIY Assistant to Life.
Künstliche Intelligenz -- Special Issue on NLP and Semantics. 2021.
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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.
Gregor Behnke.
Block Compression and Invariant Pruning for SAT-based Totally-Ordered HTN Planning.
In Proceedings of the 31st International Conference on Automated Planning and Scheduling (ICAPS 2021), pp. 25-35. 2021.
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Translations into propositional logic are currently one of the most efficient techniques for solving Totally-Ordered HTN planning problems. The current encodings iterate over the maximum allowed depth of decomposition. Given this depth, they compute a tree that represents all possible decompositions up to this depth. Based on this tree, a formula in propositional logic is created. We show that much of the computed tree is actually useless as it cannot possibly belong to a solution. We provide a technique for removing (parts of) these useless structures using state invariants. We further show that is often not necessary to encode all leafs of this tree as separate timesteps, as the prior encodings did. Instead, we can compress the leafs into blocks and encode all leafs of a block as one timestep. We show that these changes provide an improvement over the state-of-the-art in HTN planning.
Daniel Höller and Gregor Behnke.
Loop Detection in the PANDA Planning System.
In Proceedings of the 31st International Conference on Automated Planning and Scheduling (ICAPS 2021), pp. 168-173. 2021.
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The International Planning Competition (IPC) in 2020 was the first one for a long time to host tracks on Hierarchical Task Network (HTN) planning. HyperTensioN, the winner of the tack on totally-ordered problems, comes with an interesting technique: it stores parts of the decomposition path in the state to mark expanded tasks and forces its depth first search to leave recursive structures in the hierarchy. This can be seen as a form of loop detection (LD) -- a technique that is not very common in HTN planning. This might be due to the spirit of encoding enough advice in the model to find plans (so that loop detection is simply not necessary), or because it becomes a computationally hard task in the general (i.e. partially-ordered) setting. We integrated several approximate and exact techniques for LD into the progression search of the HTN planner PANDA. We test our techniques on the benchmark set of the IPC 2020. Both in the partial ordered and total ordered track, PANDA with LD performs better than the respective winner of the competition.
Daniel Höller, Gregor Behnke, Pascal Bercher and Susanne Biundo.
The PANDA Framework for Hierarchical Planning.
KI - Künstliche Intelligenz. 2021.
(Online)
Gregor Behnke and David Speck.
Symbolic Search for Optimal Total-Order HTN Planning.
In Proceedings of the 35th AAAI Conference on Artificial Intelligence (AAAI 2021), p. 11744–11754. 2021.
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Symbolic search has proven to be a useful approach to optimal classical planning. In Hierarchical Task Network (HTN) planning, however, there is little work on optimal planning. One reason for this is that in HTN planning, most algorithms are based on heuristic search, and admissible heuristics have to incorporate the structure of the task network in order to be informative. In this paper, we present a novel approach to optimal (totally-ordered) HTN planning, which is based on symbolic search. An empirical analysis shows that our symbolic approach outperforms the current state of the art for optimal totally-ordered HTN planning.

2020

Matthias Kraus, Marvin Schiller, Gregor Behnke, Pascal Bercher, Michael Dorna, Michael Dambier, Birte Glimm, Susanne Biundo and Wolfgang Minker.
``Was that successful?'' On Integrating Proactive Meta-Dialogue in a DIY-Assistant using Multimodal Cues.
In Proceedings of the 2020 International Conference on Multimodal Interaction (ICMI 2020). 2020.
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Daniel Höller, Pascal Bercher, Gregor Behnke and Susanne Biundo.
HTN Plan Repair via Model Transformation.
In Proceedings of the 42+1st Annual German Conference on Artificial Intelligence (KI 2020). 2020.
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Daniel Höller, Pascal Bercher and Gregor Behnke.
Delete- and Ordering-Relaxation Heuristics for HTN Planning.
In Proceedings of International Joint Conference on Artificial Intelligence (IJCAI 2020). 2020.
Roman Bartak, Simona Ondrckova, Adrien Maillard, Gregor Behnke and Pascal Bercher.
A Novel Parsing-based Approach for Verification of Hierarchical Plans.
In Proceedings of the 32nd International Conference on Tools with Artificial Intelligence (ICTAI 2020). 2020.
Daniel Höller, Pascal Bercher, Gregor Behnke and Susanne Biundo.
HTN Planning as Heuristic Progression Search.
Journal of Artificial Intelligence Research, pp. 835-880. 2020.
Gregor Behnke, Pascal Bercher, Matthias Kraus, Marvin Schiller, Kristof Mickeleit, Häge Timo, Michael Dorna, Michael Dambier, Wolfgang Minker, Birte Glimm and Susanne Biundo.
New Developments for Robert - Assisting Novice Users Even Better in DIY Projects.
In Proceedings of the 30th International Conference on Automated Planning and Scheduling (ICAPS 2020), pp. 343-347. 2020.
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Daniel Höller, Gregor Behnke, Pascal Bercher, Susanne Biundo, Humbert Fiorino, Damien Pellier and Ron Alford.
HDDL - A Language to Describe Hierarchical Planning Problems.
In Proceedings of the 34th AAAI Conference on Artificial Intelligence (AAAI 2020), pp. 6-17. 2020.
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Gregor Behnke, Daniel Höller, Alexander Schmid, Pascal Bercher and Susanne Biundo.
On Succinct Groundings of HTN Planning Problems.
In Proceedings of the 34th AAAI Conference on Artificial Intelligence (AAAI 2020), pp. 9775-9784. 2020.
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Both search-based and translation-based planning systemsusually operate on grounded representations of the problem. Planning models, however, are commonly defined using lifted description languages. Thus, planning systems usually generate a grounded representation of the lifted model as a pre-processing step. For HTN planning models, only one method to ground lifted models has been published so far. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings in a shorter timespan than the previously published method.

2019

Gregor Behnke, Daniel Höller and Susanne Biundo.
Finding Optimal Solutions in HTN Planning - A SAT-based Approach.
In Proceedings of the 28th International Joint Conference on Artificial Intelligence (IJCAI 2019), pp. 5500-5508. 2019.
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Gregor Behnke, Marvin Schiller, Matthias Kraus, Pascal Bercher, Mario Schmautz, Michael Dorna, Michael Dambier, Wolfgang Minker, Birte Glimm and Susanne Biundo.
Alice in DIY-Wonderland or: Instructing novice users on how to use tools in DIY projects.
AI Communications, pp. 31-57. 2019.
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Gregor Behnke, Daniel Höller and Susanne Biundo.
Bringing Order to Chaos - A Compact Representation of Partial Order in SAT-based HTN Planning.
In Proceedings of the 33rd AAAI Conference on Artificial Intelligence (AAAI 2019), pp. 7520-7529. 2019.
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Daniel Höller, Pascal Bercher, Gregor Behnke and Susanne Biundo.
On Guiding Search in HTN Planning with Classical Planning Heuristics.
In Proceedings of the 28th International Joint Conference on Artificial Intelligence (IJCAI 2019). 2019.
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Gregor Behnke, Daniel Höller, Pascal Bercher, Susanne Biundo, Humbert Fiorino, Damien Pellier and Ron Alford.
Hierarchical Planning in the IPC.
In Proceedings of 2019 Workshop on the International Planning Competition (WIPC 2019), pp. 40-47. 2019.
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Daniel Höller, Gregor Behnke, Pascal Bercher, Susanne Biundo, Humbert Fiorino, Damien Pellier and Ron Alford.
HDDL - A Language to Describe Hierarchical Planning Problems.
In Proceedings of the Second ICAPS Workshop on Hierarchical Planning, pp. 6-17. 2019.
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Gregor Behnke, Daniel Höller, Pascal Bercher and Susanne Biundo.
More Succinct Grounding of HTN Planning Problems - Preliminary Results.
In Proceedings of the Second ICAPS Workshop on Hierarchical Planning, pp. 40-48. 2019.
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2018

Matthias Kraus, Gregor Behnke, Pascal Bercher, Marvin Schiller, Susanne Biundo, Birte Glimm and Wolfgang Minker.
A Multimodal Dialogue Framework for Cloud-Based Companion Systems.
In Proceedings of the 9th International Workshop on Spoken Dialogue Systems Technology (IWSDS 2018), pp. 405-410. 2018.
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Marvin Schiller, Gregor Behnke, Pascal Bercher, Matthias Kraus, Michael Dorna, Felix Richter, Susanne Biundo, Birte Glimm and Wolfgang Minker.
Evaluating Knowledge-Based Assistance for DIY.
In Proceedings of MCI Workshop ``Digital Companion'', pp. 925-930. 2018.
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Gregor Behnke, Daniel Höller and Susanne Biundo.
Tracking Branches in Trees - A Propositional Encoding for solving Partially-Ordered HTN Planning Problems.
In Proceedings of the 30th International Conference on Tools with Artificial Intelligence (ICTAI 2018), pp. 73-80. 2018.
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Gregor Behnke and Susanne Biundo.
X and more Parallelism: Integrating LTL-Next into SAT-based Planning with Trajectory Constraints While Allowing for Even More Parallelism.
Inteligencia Artificial 21(62), pp. 75-90. 2018.
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Gregor Behnke, Daniel Höller and Susanne Biundo.
totSAT - Totally-Ordered Hierarchical Planning through SAT.
In Proceedings of the 32nd AAAI Conference on Artificial Intelligence (AAAI 2018), pp. 6110-6118. 2018.
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Gregor Behnke, Marvin Schiller, Matthias Kraus, Pascal Bercher, Mario Schmautz, Michael Dorna, Wolfgang Minker, Birte Glimm and Susanne Biundo.
Instructing Novice Users on How to Use Tools in DIY Projects.
In Proceedings of the 27th International Joint Conference on Artificial Intelligence and the 23rd European Conference on Artificial Intelligence (IJCAI-ECAI 2018), pp. 5805-5807. 2018.
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Gregor Behnke, Daniel Höller and Susanne Biundo.
Tracking Branches in Trees - A Propositional Encoding for solving Partially-Ordered HTN Planning Problems.
In Proceedings of the First ICAPS Workshop on Hierarchical Planning, pp. 40-47. 2018.
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Daniel Höller, Pascal Bercher, Gregor Behnke and Susanne Biundo.
HTN Plan Repair Using Unmodified Planning Systems.
In Proceedings of the First ICAPS Workshop on Hierarchical Planning, pp. 26-30. 2018.
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Gregor Behnke and Susanne Biundo.
X and more Parallelism - Integrating LTL-Next into SAT-based Planning with Trajectory Constraints while Allowing for even more Parallelism.
In Proceedings of the Workshop on Constraint Satisfaction Techniques for Planning and Scheduling Problems (COPLAS 2018), pp. 1-10. 2018.
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Daniel Höller, Gregor Behnke, Pascal Bercher and Susanne Biundo.
Plan and Goal Recognition as HTN Planning.
In Proceedings of the 30th International Conference on Tools with Artificial Intelligence (ICTAI 2018), pp. 466-473. 2018.
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Daniel Höller, Pascal Bercher, Gregor Behnke and Susanne Biundo.
A Generic Method to Guide HTN Progression Search with Classical Heuristics.
In Proceedings of the 28th International Conference on Automated Planning and Scheduling (ICAPS 2018), pp. 114-122. 2018.
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Daniel Höller, Pascal Bercher, Gregor Behnke and Susanne Biundo.
Plan and Goal Recognition as HTN Planning.
In Proceedings of the AAAI 2018 Workshop on Activity Plan and Intent Recognition (PAIR 2018), pp. 607-613. 2018.
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Benedikt Leichtmann, Pascal Bercher, Daniel Höller, Gregor Behnke, Susanne Biundo, Verena Nitsch and Martin Baumann.
Towards a Companion System Incorporating Human Planning Behavior - A Qualitative Analysis of Human Strategies.
In Proceedings of the 3rd Transdisciplinary Conference on Support Technologies (TCST 2018), pp. 89-98. 2018.
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Pascal Bercher, Felix Richter, Frank Honold, Florian Nielsen, Felix Schüssel, Thomas Geier, Thilo Hörnle, Stephan Reuter, Daniel Höller, Gregor Behnke, Klaus Dietmayer, Wolfgang Minker, Michael Weber and Susanne Biundo.
A Companion-System Architecture for Realizing Individualized and Situation-Adaptive User Assistance.
In Technical Report - Ulm University. 2018.
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2017

Gregor Behnke, Daniel Höller and Susanne Biundo.
This is a solution! (... but is it though?) - Verifying solutions of hierarchical planning problems.
In Proceedings of the 27th International Conference on Automated Planning and Scheduling (ICAPS 2017), pp. 20-28. 2017.
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Florian Nothdurft, Pascal Bercher, Gregor Behnke and Wolfgang Minker.
User Involvement in Collaborative Decision-Making Dialog Systems.
In Dialogues with Social Robots: Analyses Enablements and Evaluation, pp. 129-141. 2017.
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Pascal Bercher, Gregor Behnke, Daniel Höller and Susanne Biundo.
An Admissible HTN Planning Heuristic.
In Proceedings of the 26th International Joint Conference on Artificial Intelligence (IJCAI 2017), pp. 480-488. 2017.
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Marvin Schiller, Gregor Behnke, Mario Schmautz, Pascal Bercher, Matthias Kraus, Michael Dorna, Wolfgang Minker, Birte Glimm and Susanne Biundo.
A Paradigm for Coupling Procedural and Conceptual Knowledge in Companion Systems.
In Proceedings of the 2nd International Conference on Companion Technology (ICCT 2017). 2017.
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Gregor Behnke, Benedikt Leichtmann, Pascal Bercher, Daniel Höller, Verena Nitsch, Martin Baumann and Susanne Biundo.
Help me make a dinner! Challenges when assisting humans in action planning.
In Proceedings of the 2nd International Conference on Companion Technology (ICCT 2017). 2017.
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Gregor Behnke, Florian Nielsen, Marvin Schiller, Pascal Bercher, Matthias Kraus, Birte Glimm, Wolfgang Minker and Susanne Biundo.
SLOTH - the Interactive Workout Planner.
In Proceedings of the 2nd International Conference on Companion Technology (ICCT 2017). 2017.
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Pascal Bercher, Daniel Höller, Gregor Behnke and Susanne Biundo.
User-Centered Planning.
In Companion Technology - A Paradigm Shift in Human-Technology Interaction, pp. 79-100. 2017.
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Pascal Bercher, Felix Richter, Thilo Hörnle, Thomas Geier, Daniel Höller, Gregor Behnke, Florian Nielsen, Frank Honold, Schüssel Felix, Stephan Reuter, Wolfgang Minker, Michael Weber, Klaus Dietmayer and Susanne Biundo.
Advanced User Assistance for Setting Up a Home Theater.
In Companion Technology - A Paradigm Shift in Human-Technology Interaction, pp. 485-491. 2017.
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Gregor Behnke, Florian Nielsen, Marvin Schiller, Denis Ponomaryov, Pascal Bercher, Birte Glimm, Wolfgang Minker and Susanne Biundo.
To Plan for the User Is to Plan With the User - Integrating User Interaction Into the Planning Process.
In Companion Technology - A Paradigm Shift in Human-Technology Interaction, pp. 123-144. 2017.
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2016

Gregor Behnke, Daniel Höller, Pascal Bercher and Susanne Biundo.
Change the Plan - How hard can that be?
In Proceedings of the 26th International Conference on Automated Planning and Scheduling (ICAPS 2016), pp. 38-46. 2016.
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Daniel Höller, Gregor Behnke, Pascal Bercher and Susanne Biundo.
Assessing the Expressivity of Planning Formalisms through the Comparison to Formal Languages.
In Proceedings of the 26th International Conference on Automated Planning and Scheduling (ICAPS 2016), pp. 158-165. 2016.
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Ron Alford, Gregor Behnke, Daniel Höller, Pascal Bercher, Susanne Biundo and David W. Aha.
Bound to Plan: Exploiting Classical Heuristics via Automatic Translations of Tail-Recursive HTN Problems.
In Proceedings of the 26th International Conference on Automated Planning and Scheduling (ICAPS 2016), pp. 20-28. 2016.
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Pascal Bercher, Daniel Höller, Gregor Behnke and Susanne Biundo.
More than a Name? On Implications of Preconditions and Effects of Compound HTN Planning Tasks.
In Proceedings of the 22nd European Conference on Artificial Intelligence (ECAI 2016), pp. 225-233. 2016.
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2015

Gregor Behnke, Daniel Höller and Susanne Biundo.
On the Complexity of HTN Plan Verification and Its Implications for Plan Recognition.
In Proceedings of the 25th International Conference on Automated Planning and Scheduling (ICAPS 2015), pp. 25-33. 2015.
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Gregor Behnke, Denis Ponomaryov, Marvin Schiller, Ber\-cher Pascal, Florian Nothdurft, Birte Glimm and Susanne Biundo.
Coherence Across Components in Cognitive Systems - One Ontology to Rule Them All.
In Proceedings of the 24th International Joint Conference on Artificial Intelligence (IJCAI 2015), pp. 1442-1449. 2015.
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Florian Nothdurft, Gregor Behnke, Pascal Bercher, Susanne Biundo and Wolfgang Minker.
The Interplay of User-Centered Dialog Systems and AI Planning.
In Proceedings of the 16th Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGDIAL 2015), pp. 344-353. 2015.
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Pascal Bercher, Felix Richter, Thilo Hörnle, Thomas Geier, Daniel Höller, Gregor Behnke, Florian Nothdurft, Frank Honold, Wolfgang Minker, Michael Weber and Susanne Biundo.
A Planning-based Assistance System for Setting Up a Home Theater.
In Proceedings of the 29th AAAI Conference on Artificial Intelligence (AAAI 2015), pp. 4264-4265. 2015.
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Gregor Behnke, Pascal Bercher, Susanne Biundo, Birte Glimm, Denis Ponomaryov and Marvin Schiller.
Integrating Ontologies and Planning for Cognitive Systems.
In Proceedings of the 28th International Workshop on Description Logics (DL 2015), pp. 338-360. 2015.
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Pascal Bercher, Daniel Höller, Gregor Behnke and Susanne Biundo.
User-Centered Planning - A Discussion on Planning in the Presence of Human Users.
In Proceedings of the First International Symposium on Companion Technology (ISCT 2015), pp. 79-82. 2015.
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Gregor Behnke, Marvin Schiller, Denis Ponomaryov, Florian Nothdurft, Ber\-cher Pascal, Wolfgang Minker, Birte Glimm and Susanne Biundo.
A Unified Knowledge Base for Companion-Systems - A Case Study in Mixed-Initiative Planning.
In Proceedings of the First International Symposium on Companion Technology (ISCT 2015), pp. 43-48. 2015.
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2014

Daniel Höller, Gregor Behnke, Pascal Bercher and Susanne Biundo.
Language Classification of Hierarchical Planning Problems.
In Proceedings of the 21st European Conference on Artificial Intelligence (ECAI 2014), pp. 447-452. 2014.
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