Tradeoffs among Refinements

FSR and BSR must commit

to both position and

relevance of actions

+ Give state information

(Easier plan validation)

- Leads to premature

commitment

- Too many states when

actions have durations

Plan-space refinement (PSR)

avoids constraining position

+ Reduces commitment

(large candidate set /branch)

- Increases plan-validation

costs

+ Easily extendible to actions

with duration

1: Fly()

0

?

0

?

?

Pf

Pb

Pp

The Tastes great/

Less Filling holy wars

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