Formalisms for automated planning (to represent and solve planning problems) broadly fall into either domain-independent planning or domain-configurable planning. Domain-independent planning formalisms, such as classical planning requires that the users only provide models of the base actions executable in the domain. In contrast, domain-configurable planning formalisms (e.g., Hierarchical Task Network (HTN) planning [1]) allow users to supplement action models with additional domain-specific knowledge structures that increases the expressivity and scalability of planning systems.
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