Delete relaxations for planning with state-dependent action costs

Abstract

Supporting state-dependent action costs in planning admits a more compact representation of many tasks. We generalize the additive heuristic hadd and compute it by embedding decision-diagram representations of action cost functions into the RPG. We give a theoretical evaluation and present an implementation of the generalized hadd heuristic. This allows us to handle even the hardest instances of the combinatorial ACADEMIC ADVISING domain from the IPPC 2014.1