Additional Acknowledgements: This work was partially supported by the Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation. - The computations were enabled by resources provided by the Swedish National Infrastructure for Computing (SNIC), partially funded by the Swedish Research Council through grant agreement no. 2018-05973. The computations were enabled by resources provided by the National Academic Infrastructure for Supercomputing in Sweden (NAISS) and the Swedish National Infrastructure for Computing (SNIC) at the the National Supercomputer Centre at Linköping University partially funded by the Swedish Research Council through grant agreements no. 2022-06725 and no. 2018-05973.

Code and data for the Article "Expressing and Exploiting the Common Subgoal Structure Using Sketches" code.zip contains apptainer definition files and code to build LAMA, Dual-BFWS, SIW, and SIW_R planners data.zip contains benchmarks and experimental results of runnning the planners on the benchmarks