Flexible step insertion is harder for state-based encodings
Consider the scenario where a plan [O3O2O1] needs to be modified to handle some specification change. The change requires the addition of some action Oi at some place in the plan
- Trivial in causal encodings--just add an extra step s4 t that is partially ordered w.r.t. to other steps
- Harder in State-based encodings
- Either reserve multiple places for the new action
- Or specify all possible plan completion options