Method for planning actions based on an elementary attribute space

Method for operating an assistance system based on an attribute space comprises: obtaining task information defining at least one target state to be achieved; obtaining initial state information defining an initial state of an autonomous device or a user, and of at least one object involved in achieving the target state; defining a planning problem based on the task information, the initial state information and attribute information related to the object; selecting an action or a sequence of actions to solve the planning problem; and outputting a control signal to a human-machine interface HMI or the autonomous device for achieving the target state; determining whether the action or sequence of actions achieves the target state, and, if not, decomposing the planning problem based on the attribute information to generate a decomposed planning problem; solving the decomposed planning problem; and outputting the control signal to the HMI or the autonomous device.