Conclusions
Encodings are related to proof strategies
- Encodings are proofs that a disjunctive plan contains a legal solution for the given problem
There are a spectrum of causal encodings
- Several of them are better than the one reported in the literature previously
Even best causal encodings are ultimately dominated by best state-based encodings
- Lifting is not going to affect this dominance
There is no reason to be surprised!!!
- The flexibility offered by causal proof is not needed in vanilla from-scratch planning
Causal encodings can still be superior in
- Incremental planning/Plan Reuse
- Modeling causal constraints