[MH13] Christoph Mies and Joachim Hertzberg. Encoding htn heuristics in pddl planning instances. In *KI 2013: Advances in Artificial Intelligence*: 36th Annual German Conference on AI, Koblenz, Germany, September 16-20, 2013. Proceedings 36, pages 292-295. Springer, 2013.
[MK12] Mausam and Andrey Kolobov. Planning with Markov Decision Processes: An AI Perspective. Synthesis Lectures on Artificial Intelligence and Machine Learning. Morgan & Claypool Publishers, 2012.
[MMB14] Christian J. Muise, Sheila A. McIlraith, and Vaishak Belle. Non-deterministic planning with conditional effects. In Proc. ICAPS 2014, pages 370-374, 2014.
[MvSE22] Jorge A Mendez, Harm van Seijen, and ERIC EATON. Modular lifelong reinforcement learning via neural composition. In International Conference on Learning Representations, 2022.
$\left[\mathrm{NAI}^{+}03\right]$  Dana S. Nau, Tsz-Chiu Au, Okhtay Ilghami, Ugur Kuter, J. William Murdock, Dan Wu, and Fusun Yaman. SHOP2: An HTN planning system. Journal of Artificial Intelligence Research, 20:379-404, 2003.
[ORCC21] Oleksiy Ostapenko, Pau Rodriguez, Massimo Caccia, and Laurent Charlin. Continual learning via local module composition. Advances in Neural Information Processing Systems, 34:30298-30312, 2021.
[PG09] Hector Palacios and Hector Geffner. Compiling uncertainty away in conformant planning problems with bounded width. Journal of Artificial Intelligence Research, 35:623-675, 2009.
$\left[\mathrm{PMM}^{+}22\right]$  Vishal Pallagani, Bharath Muppasani, Keerthiram Murugesan, Francesca Rossi, Lior Horesh, Biplav Srivastava, Francesco Fabiano, and Andrea Loreggia. Plansformer: Generating symbolic plans using transformers. arXiv preprint arXiv:2212.08681, 2022.
[SAH+20] Julian Schrittwieser, Ioannis Antonoglou, Thomas Hubert, Karen Simonyan, Laurent Sifre, Simon Schmitt, Arthur Guez, Edward Lockhart, Demis Hassabis, Thore Graepel, et al. Mastering atari, go, chess and shogi by planning with a learned model. Nature, 588(7839):604-609, 2020.
[SB09] Scott Sanner and Craig Boutilier. Practical solution techniques for first-order mdps. Artificial Intelligence, 173(5-6):748-788, 2009.
$\left[\mathrm{SGT}^{+}21\right]$  Alessandro Suglia, Qiaozi Gao, Jesse Thomason, Govind Thattai, and Gaurav S. Sukhatme. Embodied BERT: A transformer model for embodied, language-guided visual task completion. CoRR, abs/2108.04927, 2021.
$\left[\mathrm{SSS}^{+}17\right]$  David Silver, Julian Schrittwieser, Karen Simonyan, Ioannis Antonoglou, Aja Huang, Arthur Guez, Thomas Hubert, Lucas Baker, Matthew Lai, Adrian Bolton, Yutian Chen, Timothy Lillicrap, Fan Hui, Laurent Sifre, George van den Driessche, Thore Graepel, and Demis Hassabis. Mastering the game of Go without human knowledge. Nature, 550(7676):354-359, 2017.
[STG+20] Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk, Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, and Dieter Fox. ALFRED: A benchmark for interpreting grounded instructions for everyday tasks. In CVPR, pages 10737-10746. Computer Vision Foundation / IEEE, 2020.
$\left[\mathrm{SWW}^{+}23\right]$  Chan Hee Song, Jiaman Wu, Clayton Washington, Brian M. Sadler, Wei-Lun Chao, and Yu Su. Llm-planner: Few-shot grounded planning for embodied agents with large language models, 2023.
[TGD04] Prasad Tadepalli, Robert Givan, and Kurt Driessens. Relational reinforcement learning: An overview. In Proceedings of the ICML-2004 workshop on relational reinforcement learning, pages 1–9, 2004.