This paper introduces plan cost functions for PDDL+ to evaluate plan quality, suggesting practical applications in mixed discrete-continuous problems.
PDDL+ is a planning formalism designed to model mixed continuous-discrete problems. Despite its expressiveness, the absence of a well-established framework for evaluating plan quality makes it challenging to use PDDL+ in applications where plan shape and quality are crucial. This paper addresses this issue by introducing a comprehensive set of plan cost functions tailored for discrete-time PDDL+, along with a cost-preserving translation for generating cost-aware PDDL2.1 planning tasks. The plan cost functions provide a theoretical ground for assessing plan quality, whereas the translation shows their practicability by leveraging the connection between PDDL+ and PDDL2.1.
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Percassi et al. (2025) studied this question.
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