Are there any good references on AI planning in Very Large Scale hierarchically abstracted domains with hundreds or thousands of primitive actions and thousands or millions of composite actions? (Most papers deal with a small number of primitive actions (operations) often using PDDL. Depending upon whether state space or plan space or task network search is being done looking for reliable applicable or relevant actions to retrieve at each node, plan, or task choice seems to turn into a case based planning problem. Especially if planning is being done online with no prior static analysis of the task domain. Your thoughts or references are appreciated.) ~PM
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