Position, Relevance and Commitment
FSR and BSR must commit
to both position and
relevance of actions
+ Gives state information
- Leads to premature
commitment
Plan-space refinement (PSR)
avoids constraining position
+ Reduces commitment
- Increases plan-handling
costs
1: Fly()
0
?
0
?
?
Pf
Pb
Pp
The Tastes great/
Less Filling debate
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