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There is an impressive body of work on developing heuristics and other reasoning algorithms to guide search in optimal and anytime planning algorithms for classical planning. However, very little effort has been directed towards developing analogous techniques to guide search towards high-quality solutions in hierarchical planning formalisms like HTN planning, which allows using additional domain-specific procedural control knowledge. In lieu of such techniques, this control knowledge oftenarXiv:1607.01729v2 fatcat:yykg2u3ugnd2bgta6nd4r4ochq