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@inproceedings{icaps23,
   author = {Eyal Weiss and Gal A. Kaminka},
   title = { Planning with Multiple Action-Cost Estimates },
   booktitle = ICAPS,
   pages = {427--437},
   year = {2023},
  wwwnote = {},
  abstract = {
    AI Planning require computing the costs of ground actions. While often assumed to be negligible,  
the run-time of this computation can become a major component in the overall planning run-time. 
To address this, we introduce \emph{planning with multiple action cost estimates}, a generalization 
of classical planning, where  action  cost can be incrementally determined using multiple  
estimation procedures, which trade computational effort for increasingly tightening bounds 
on the exact cost. We then present \asec, a generalized $A^*$, to solve such problems.  
We provide theoretical guarantees, and extensive experiments that  
show considerable run-time savings compared to alternatives.	  }
}