Solving HTN Encodings
[Kambhampati & Mali, AIPS-98]
Puzzle: How can increasing encoding sizes lead to efficient planning?
Abstract actions and their reductions put restrictions on the
amount of step-action disjunction at the primitive level.
--Reduction in step-action disjunction propagates
e.g. Fewer causal-link variables, Fewer exclusion clauses…
Savings won’t hold if each non-primitive task has MANY reductions