用SMT扩展SAT编码，实现带数值推理的完整规划。
Towards Numerical TOHTN Planning with SMT-based HTN-SAT Encoding
- 将SAT编码扩展为SMT，支持数值变量处理
- 在新基准上表现优于现有方法，成为有力基线
- 适合需要精确数值计算的复杂规划任务
尽管近年来对HTN规划的研究日益增多，但对数值推理的支持仍非常有限。本文研究了带数值变量的完全有序HTN（TOHTN）规划问题，展示如何将标准的SAT编码自然扩展为SMT以处理数值状态量。此外，我们引入了一个针对数值TOHTN规划的基准测试套件，为该领域提供首个统一评估基础。实验结果表明，这种简单的编码方法已构成具有竞争力的基线方案。本工作为更丰富的HTN规划方法铺平了道路。
原文摘要 · Abstract (English)
While HTN planning has received significant attention in recent years, support for numerical reasoning remains very limited. In this paper, we investigate numerical Totally-Ordered HTN (TOHTN) planning and show how standard SAT-based encodings can be naturally extended with SMT to handle numeric fluents. In addition, we introduce a benchmark suite for numerical TOHTN planning, providing a first common basis for evaluation in this setting. Experimental results show that this simple encoding already constitutes a competitive baseline. This work opens the way to more expressive approaches to HTN planning.
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