1.1. Plan Representation
1.2. Memo Table and Logical Equivalence
1.3. Cascades Framework
1.3.1. Basic Cascades Tasks
1.3.2. Cycle Avoidance
1.3.3. Upper Bound Pruning
1.3.4. Multi-Stage Optimization
1.4. Rule IR and Matcher
1.5. Cost and Statistics
1.6. Logical Properties
1.7. Physical Properties and Enforcers
1.7.1. Memo Table: Subgoals and Winners
1.7.2. Cascades Tasks: Required Physical Properties
1.8. Exploration Budget
1.9. Heuristics Optimizer