Hello ! I am having trouble making the planner search breadth-first. In my example, only 2 of the possible 5 states at each level have completed their subplan. This seems to be motivated by the highest estimated reward, however it pains me to know that if he would just expand the first level resulting states, he would find an action with a big immediate reward. This also pushes the planner to have a depth of 1000+, which is useless in my case. So far I tried : Balancing out the immediate rewards to prevent the cumulated ones from hulking up. Changing the DC plan settings : upping state expansion budget, capping plan size, setting the selection job to parallel instead of sequential. Changing the execution settings. Any (hopefully deterministic) advice ? Cheers !