# Probabilistic contingent planning based on HTN for high-quality plans

arXiv: https://arxiv.org/abs/2308.06922 · HTML: https://mlsanity.com/paper/2308.06922/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 30 references that are in the map.
- First posted on arXiv 14 Aug 2023.

## Builds on (most cited first, 1 of 1)

- [The LAMA Planner: Guiding Cost-Based Anytime Planning with Landmarks](https://mlsanity.com/paper/1401.3839/) (2014)

## Abstract (arXiv)

Deterministic planning assumes that the planning evolves along a fully predictable path, and therefore it loses the practical value in most real projections. A more realistic view is that planning ought to take into consideration partial observability beforehand and aim for a more flexible and robust solution. What is more significant, it is inevitable that the quality of plan varies dramatically in the partially observable environment. In this paper we propose a probabilistic contingent Hierarchical Task Network (HTN) planner, named High-Quality Contingent Planner (HQCP), to generate high-quality plans in the partially observable environment. The formalisms in HTN planning are extended into partial observability and are evaluated regarding the cost. Next, we explore a novel heuristic for high-quality plans and develop the integrated planning algorithm. Finally, an empirical study verifies the effectiveness and efficiency of the planner both in probabilistic contingent planning and for obtaining high-quality plans.