...plan

For a more formal development of the refinement search semantics of partial plans, we refer the reader to the work of Kambhampati, Knoblock, and Yang [25].

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...tree

In practice, this limit is actually a bound placed on the number of steps contained in the plan.

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...failure

DERSNLP+EBL's EBL component explains only analytical failures. Depth limit failures are ignored. This means that the failure explanations that are formed are not sound in the case of a depth limit failure, and that the retriever may reject a case when it is applicable. Rejecting an applicable case may lead to the storage of duplicate cases and a larger library size. However, our empirical work has not shown this to be of practical importance for reasons outlined in Section 3.2.2.

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...airport

For a more comprehensive evaluation over an unbiased problem set see Section 4.

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...plan

An analogous decrease in plan quality occurs in state-space plan reuse, when sequencing macro-operators results state loops [29].

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...plan

Consider, for example, a domain in which the plane may transport two packages in one trip, or not, depending on its capacity.

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...problems

There is more opportunity for interaction in larger problems. For example, a 6-goal problem could contain 6 goals that mutually interact, whereas a 5-goal problem has a maximum of 5 interacting goals.

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...sec

DERSNLP+EBL in from-scratch mode used a best-first strategy. In replay, this best-first strategy is biased so that the subtree under the replayed path is explored first, before the siblings of this path.

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