Can we improve causal encodings?
The vanilla causal encoding is worse than the state-based encoding with explanatory frame axioms
- Cubic clauses and quadratic variables
Are there ways of improving bounds for causal encodings?
Insight: If all you want to do is prove the correctness of a k-sized plan using causal ideas, you don’t really need all the machinery of causal encoding
- Can replace partial ordering with continguity ordering
- Can replace causal link-based establishment with white-knight based establishment