In this paper, we revisit the concept of goal commitment from early planners in the presence of current forward chaining heuristic planners. We present a compilation that extends the original planning task with commit actions that enforce the persistence of specific goals once achieved, thereby committing to them in the search sub-tree. This approach imposes a specific goal achievement order in parts of the search tree, potentially introducing dead-end states. This can reduce search effort if the goal achievement order is correct. Otherwise, the search algorithm can expand nodes in the open list where goals do not persist. Experimental results demonstrate that the reformulated tasks suit state-of-the-art agile planners, enabling them to find better

翻译：本文在当前前向链启发式规划器的背景下，重新审视早期规划器中目标承诺的概念。我们提出一种编译方法，通过引入承诺动作来扩展原始规划任务，这些动作强制要求特定目标在达成后保持持久状态，从而在搜索子树中实现对目标的承诺。该方法在搜索树的部分区域强制规定了特定的目标达成顺序，可能引入死锁状态。若目标达成顺序正确，则可减少搜索开销；反之，搜索算法将在开放列表中扩展目标未保持持久性的节点。实验结果表明，重构后的任务适配前沿的敏捷规划器，使其能够发现更优解。