Robo-Soar: an integration of external interaction, planning and learning using Soar

This chapter reports progress in extending the Soar architecture to tasks that involve inter-action with external environments. The tasks are performed using a Puma arm and a camera in a system called Robo-Soar. The tasks require the integration of a variety of capabilities including problem solving with incomplete knowledge, reactivity, planning, guidance from ex-ternal advice, and learning to improve the efficiency and correctness of problem solving. All of these capabilities are achieved without the addition of special purpose modules or subsystems to Soar.