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One of the challenges of task planning is to find out what causes theplanning failure and how to handle the failure intelligently. This paper showshow to achieve this. The idea is inspired by the connected graph: each verticlerepresents a set of compatible \textit{states}, and each edge represents an\textit{action}. For any given initial states and goals, we construct virtualactions to ensure that we always get a plan via task planning. This paper showshow to introduce virtual action to extend action models to make the graph to beconnected: i) explicitly defines static predicate (type, permanent properties,etc) or dynamic predicate (state); ii) constructs a full virtual action or asemi-virtual action for each state; iii) finds the cause of the planningfailure through a progressive planning approach. The implementation wasevaluated in three typical scenarios.

Task planning and explanation with virtual actions