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which actions will be needed.

With nondeterministic actions or other events outside the control of the agent, the possible executions form a tree, and plans have to determine the appropriate actions for every node of the tree.

Discrete-time Markov decision processes (MDP) are planning problems with:
* durationless actions,
* nondeterministic actions with probabilities,
* full observability,
* maximization of a reward function,
* and a single agent.

When

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