Planning as heuristic search is one of the most successful approaches to
classical planning but unfortunately, it does not extend trivially to
Generalized Planning (GP). GP aims to compute algorithmic solutions that are
valid for a set of classical planning instances from a given domain, even if
these instances differ in the number of objects, the number of state variables,
their domain size, or their initial and goal configuration. The generalization
requirements of GP make it impractical to perform the state-space search that
is usually implemented by heuristic planners. This paper adapts the planning as
heuristic search paradigm to the generalization requirements of GP, and
presents the first native heuristic search approach to GP. First, the paper
introduces a new pointer-based solution space for GP that is independent of the
number of classical planning instances in a GP problem and the size of those
instances (i.e. the number of objects, state variables and their domain sizes).
Second, the paper defines a set of evaluation and heuristic functions for
guiding a combinatorial search in our new GP solution space. The computation of
these evaluation and heuristic functions does not require grounding states or
actions in advance. Therefore our GP as heuristic search approach can handle
large sets of state variables with large numerical domains, e.g.~integers.
Lastly, the paper defines an upgraded version of our novel algorithm for GP
called Best-First Generalized Planning (BFGP), that implements a best-first
search in our pointer-based solution space, and that is guided by our
evaluation/heuristic functions for GP.

本研究提出了一种新的基于指针的 GP 解空间、评估和启发式函数，以及 BFGP 算法，为了实现 GP 的启发式搜索，避免了提前 grounding state 或 action 所带来的问题，能有效处理大型状态变量集合和大量数值域的情况。