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The preponderance of problems in planning test sets are ``toy problems'':
well-known synthetic problems designed to test some attribute of
planners. The Blocksworld domain has long been included in any
evaluation because it is well known, can have subgoal interactions and
supports constructing increasingly complex problems (e.g., towers of
more blocks). A few benchmark problems are simplified versions of
realistic planning problems, e.g., the flat tire, refrigerator repair
or logistics domains. We used the set included with the UCPOP planner.
These problems were contributed by a large number of people
and include multiple encodings of some problems/domains, especially
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