Supporting state-dependent action costs in planning admits a more compact representation of many tasks. We generalize the additive heuristic 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 additive heuristic. This allows us to handle even the hardest instances of the combinatorial Academic Advising domain from the IPPC 2014.
['Florian Geißer', 'Thomas Keller', 'Robert Mattmüller']
Delete Relaxations for Planning with State-Dependent Action Costs