Planning is much more than marking a target and working your way backwards. Planning is about expanding your options, remember? it’s collecting data, making predictions, branching over different realizations of those predictions and speculating about resources that could help. Planning is as much about what not to do as it is about what to do. Planning is about cramming up as many possible futures into plan which tries to narrow these futures into one future. Planning is fan-out where the plan is fan-in.