Features:

Node-based HTN graph editor
Seamlessly use Blackboard data as worldstate
Make custom Tasks, Decorators, and Services in both C++ and Blueprints
Create composable behaviors using subnetworks
Make subplans within plans to freely mix planning and on-the-fly decision-making
Cost-based or priority-based planning
Parallel planning
Any-order planning
Integration with the Visual Logger, including visualizing the current plan
Integration with the Environment Query System for complex movement planning and decision-making
Realtime debugging features
Extend the HTN Component with HTN Extensions
Full source code access Version: 1.11.1( 5.1) Home Page: https://www.unrealengine.com/marketplace/en-US/product/hierarchical-task-network-planning