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Epistemic planning extends classical planning with knowledge and is based on dynamic epistemic logic (DEL). The epistemic planning problem is undecidable in general. We exhibit a small undecidable subclass of epistemic planning over 2-agent S5 models with a fixed repertoire of one action, 6 propositions and a fixed goal. We furthermore consider a variant of the epistemic planning problem where the initial knowledge state is an automatic structure, hence possibly infinite. In that case, we showdoi:10.24963/ijcai.2018/664 dblp:conf/ijcai/CongPS18 fatcat:u4hfznpng5e4lovfudn2kzcgga