Planning Find: program of actions that achieves the objective partially-ordered set goals Paradigms Classical planning (STRIPS, operator-based, first-principles “ generative HTN planning ractical"planning MDP POMDP planning planning under uncertaintyPlanning Find: program of actions that achieves the objective partially-ordered set goals Paradigms Classical planning (STRIPS, operator-based, first-principles) “generative” HTN planning “practical” planning MDP & POMDP planning planning under uncertainty