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Search issound, because all nodes are eventually expanded, and path costs updated. While all the evaluated39 domains were deterministic, our framework also supports Probabilistic PDDL [5], and can be readily extended to40 stochastic domains, e.g. Our use ofareplanning model also means that itisnot41 as strongly tied to deterministic environments as R3 contends: ifthe agent encounters astate that itdid not plan for42 (e.g.