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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 acc
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-03T14:27:58.000Z
First collected: 2026-09-21T04:51:57.792Z. This is not the publication date.