Behnke, Gregor, Florian Pollitt, Daniel Höller, Pascal Bercher, and Ron Alford. 2022. “Making Translations to Classical Planning Competitive With Other HTN Planners”. Proceedings of the AAAI Conference on Artificial Intelligence 36 (9):9687-97. https://doi.org/10.1609/aaai.v36i9.21203.