Towards Numerical TOHTN Planning with SMT-based HTN-SAT Encoding
cs.AI
Submitted: 2026-09-03
Updated: 2026-09-03
Comments: pages 32-36
Journal ref: Proceedings of the 9th ICAPS Workshop on Hierarchical Planning (HPlan 2026)
Code: https://github.com/gaspard-quenard/sibylsat
License: http://creativecommons.org/licenses/by/4.0/
The gist: While HTN planning has received significant attention in recent years, support for numerical reasoning remains very limited.
Terminology
Abstract
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.
Sources
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