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Psy-Kosh comments on A Sense That More Is Possible - Less Wrong
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An idea on how to make the execution part trivial – a rational planner should treat his own execution module as a part of the external environment, not as a part of 'himself'. This approach will produce plans that take into account the inefficiencies of one's execution module and plan around them.
Well, ideally one considers the whole of themselves when doing the calculations, but it does make the calculations tricky.
And that still doesn't answer exactly how to take it into account. ie, "okay, I need to take into account the properties of my execution module, find ways to actually get it to do stuff. How?"