Getting things done is never efficient. Only keeping things going can be efficient. In human-powered work, only processes can be optimized, at the cost of humanity. True projects (n=1 iterative processes) can only be completed ot not.
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In optimization theory, there is no difference between fixed and receding/iteratively reset horizons. Both can be optimized. In optimization practice, only the latter can be meaningfully optimized.
No optimization without iteration.
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You can optimize bits and pieces of n=1 projects, but not the whole thing.
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