Standard temporal planning assumes that planning takes place offline and then
execution starts at time 0. Recently, situated temporal planning was
introduced, where planning starts at time 0 and execution occurs after planning
terminates. Situated temporal planning reflects a more realistic scenario where
time passes during planning. However, in situated temporal planning a complete
plan must be generated before any action is executed. In some problems with
time pressure, timing is too tight to complete planning before the first action
must be executed. For example, an autonomous car that has a truck backing
towards it should probably move out of the way now and plan how to get to its
destination later. In this paper, we propose a new problem setting: concurrent
planning and execution, in which actions can be dispatched (executed) before
planning terminates. Unlike previous work on planning and execution, we must
handle wall clock deadlines that affect action applicability and goal
achievement (as in situated planning) while also supporting dispatching actions
before a complete plan has been found. We extend previous work on metareasoning
for situated temporal planning to develop an algorithm for this new setting.
Our empirical evaluation shows that when there is strong time pressure, our
approach outperforms situated temporal planning.

驱动动作执行前的同时计划和执行问题，扩展适应于实境规划的元推理方法，提出适应计划期限和派遣动作的算法，在强时限压力下优于实境规划。

计划和行动随着时间的推移

Planning and Acting While the Clock Ticks

Time pressure and topic negotiation may impose constraints on how people
leverage discourse relations (DRs) in spontaneous conversational contexts. In
this work, we adapt a system of DRs for written language to spontaneous
dialogue using crowdsourced annotations from novice annotators. We then test
whether discourse relations are used differently across several types of
multi-utterance contexts. We compare the patterns of DR annotation within and
across speakers and within and across turns. Ultimately, we find that different
discourse contexts produce distinct distributions of discourse relations, with
single-turn annotations creating the most uncertainty for annotators.
Additionally, we find that the discourse relation annotations are of sufficient
quality to predict from embeddings of discourse units.

时间压力和话题协商对人们在即兴对话环境中利用话语关系（DRs）存在限制。本研究使用初学者注释的众包数据，将一种面向书面语的 DR 系统适应到即兴对话中，并测试不同类型的多发话语环境中的话语关系使用情况。我们比较说话者内部和跨说话者以及连续回合内部和跨连续回合的 DR 注释模式。最终，我们发现不同的话语环境产生不同的话语关系分布，而单个回合的注释给注释者带来最大的不确定性。此外，我们发现话语关系注释的质量足以从话语单位的嵌入中进行预测。