Discussion
Why is grounding a planning problem sometimes expensive?
Answer: A
A schema with three parameters over fifty objects gives a hundred and twenty five thousand ground actions, and many planners must enumerate them before search begins. Reachability analysis prunes most of them. Goal knowledge, representation and initial states are not the difficulty. A preprocessing step whose cost grows polynomially with a parameter that is large in practice can dominate the whole computation, which is worth checking before assuming the search is the bottleneck.
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