TGE-viz : Transition Graph Embedding for Visualization of Plan Traces
  and Domains
  Existing work for plan trace visualization in automated planning uses
pipeline-style visualizations, similar to plans in Gantt charts. Such
visualization do not capture the domain structure or dependencies between the
various fluents and actions. Additionally, plan traces in such visualizations
cannot be easily compared with one another without parsing the details of
individual actions, which imposes a higher cognitive load. We introduce
TGE-viz, a technique to visualize plan traces within an embedding of the entire
transition graph of a domain in low dimensional space. TGE-viz allows users to
visualize and criticize plans more intuitively for mixed-initiative planning.
It also allows users to visually appraise the structure of domains and the
dependencies in it.
