Lose the Order, Keep the Hierarchy: Deordering HTN Plans
Hierarchical Task Network (HTN) planning is a powerful planning formalism based on task decomposition. Although most of the literature studied plan generation, comparatively less attention has been paid to post-plan optimization. In particular, plan deordering has been extensively studied in classical planning but remains under-researched in the HTN setting. Plan deordering removes unnecessary ordering constraints between actions in a plan whilst keeping the plan valid. In this paper, we adapt two established plan deordering techniques from classical planning by extending the techniques to account for hierarchical decomposition constraints. We evaluate our proposed approaches on the IPC 2...
| Authors | Takudzwa Togarepi, Gaspard Quenard, Damien Pellier et al. |
|---|---|
| Primary category | cs.AI |
| Published | 3 September 2026 |
| Last updated at source | 3 September 2026 |
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