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Heuristics can make search more efficient, but goal-aware heuristics for black-box planning usually rely on goal counting, which is often quite uninformative. In this work, we show how to overcome this limitation by discovering macro-actions that make the goal-count heuristic more accurate. Our approach searches for macro-actions with focused effects (i.e. macros that modify only a small number of state variables), which align well with the assumptions made by the goal-count heuristic. Focused macros dramatically improve black-box planning efficiency across a wide range of planning domains, sometimes beating even state-of-the-art planners with access to a full domain model.","url_abs":"https://arxiv.org/abs/2004.13242v3","url_pdf":"https://arxiv.org/pdf/2004.13242v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"finding-macro-actions-with-disentangled","repo_url":"https://github.com/camall3n/focused-macros","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"Apache-2.0"}},{"paper_slug":"finding-macro-actions-with-disentangled","repo_url":"https://github.com/camall3n/skills-for-planning","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[],"methods":[{"method_slug":"lama","method_name":"LAMA"},{"method_slug":"softmax","method_name":"Softmax"},{"method_slug":"tanh-activation","method_name":"Tanh Activation"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2004.13242","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2004.13242"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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