Why plan myopically by assuming the most likely state is correct?
Reduces computational cost.
MI gathers information about action affects that confirm or deny this assumption.
If the most likely state is incorrect, MI moves to a less likely state by elimination
Eventually the correct state is reached.
If no irreversible action is taken, this strategy will eventually reach the target, given that it was initially reachable
MRP only considers reversible control actions except when the only effect is to repair failures.