Human planning is hierarchical. Whether planning something simple like cooking dinner or something complex like a trip abroad, we usually begin with a rough mental sketch of the goals we want to achieve (“go to India, then return back home”). This sketch is then progressively refined into a detailed sequence of sub-goals (“book flight ticket”, “pack luggage”), sub-sub-goals, and so on, down to the actual sequence of bodily movements that is much more complicated than the original plan.

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Teaching AI to Learn How Humans Plan Efficiently
1.15 GEEK