Discussion
Why did forward state space planning displace partial order planning in practice?
Answer: C
The arrival of relaxed plan heuristics made simple forward search outperform the more sophisticated planners on standard benchmarks by a wide margin. Partial order planning remains valuable where execution flexibility matters. Execution, expressiveness and completeness were not the issue. A more sophisticated algorithm being beaten by a simpler one with better guidance is a pattern that recurs whenever heuristics improve faster than algorithms. The quantity that varies and the quantity that does not are worth naming before any substitution is attempted.
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