Contributions

• A framework for integrating HTN and action-based planning paradigms

• Can handle partially hierarchicalized domains in a principled way

• Explains the surface differences between HTN and action-based planners

  • Differing notions of completeness
  • Phantom establishments, downward unlinearizability..

• Supports cross-fertilization of ideas

  • E.g. Ported SATPLAN ideas to HTN planning
    • [Mali & Kambhampati; AIPS-98]

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