Case retrieval time is shown in parentheses next to CPU time. The insert shows the amount of time taken to solve all test problems after increasing amounts of training.
Figure shows the size of the case library with increased number of training problems solved.
Moreover, replay performance improved with problem-solving experience. The plans that were produced showed only a slight increase in number of steps over the solutions which were obtained in from-scratch mode. The same results are plotted in Figure 17 which graphs cumulative CPU time on all test problems over the six experiments. This figure illustrates how CPU time decreased with the number of training problems solved. As evident in this insert, planning performance improves with increased experience on random problems.