diff --git a/include/plasp/pddl/translation/Goal.h b/include/plasp/pddl/translation/Goal.h
index 410daf5..9c90ba2 100644
--- a/include/plasp/pddl/translation/Goal.h
+++ b/include/plasp/pddl/translation/Goal.h
@@ -7,6 +7,7 @@
 
 #include <plasp/TranslatorException.h>
 
+#include <plasp/pddl/translation/DerivedPredicate.h>
 #include <plasp/pddl/translation/Predicate.h>
 #include <plasp/pddl/translation/Primitives.h>
 
@@ -39,12 +40,11 @@ inline void translateGoal(colorlog::ColorStream &outputStream, const ::pddl::nor
 		};
 
 	const auto handleDerivedPredicate =
-		[&](const ::pddl::normalizedAST::DerivedPredicatePointer &, bool = true)
+		[&](const ::pddl::normalizedAST::DerivedPredicatePointer &derivedPredicate, bool isPositive = true)
 		{
 			outputStream << std::endl << colorlog::Function("goal") << "(";
 			// TODO: assert that goal is variable-free
-			// TODO: implement
-			//translatePredicateToVariable(outputStream, *predicate, isPositive);
+			translateDerivedPredicateToVariable(outputStream, *derivedPredicate, isPositive);
 			outputStream << ").";
 		};
 
diff --git a/src/plasp/pddl/TranslatorASP.cpp b/src/plasp/pddl/TranslatorASP.cpp
index 3db9582..037039b 100644
--- a/src/plasp/pddl/TranslatorASP.cpp
+++ b/src/plasp/pddl/TranslatorASP.cpp
@@ -463,7 +463,7 @@ void TranslatorASP::translateGoal() const
 	m_outputStream << colorlog::Heading2("goal");
 
 	const auto &goal = m_description.problem.value()->goal.value();
-	// TODO: refactor
+
 	::plasp::pddl::translateGoal(m_outputStream, goal);
 
 	m_outputStream << std::endl;