Making Translations to Classical Planning Competitive With Other HTN Planners

Gregor Behnke, Florian Pollitt, Daniel Höller, Pascal Bercher, Ron Alford

[AAAI-22] Main Track
Abstract: Translation-based approaches to planning allow for solving problems in complex and expressive formalisms via the means of highly efficient solvers for simpler formalisms. To be effective, these translations have to be constructed appropriately. The currently existing translation of the highly expressive formalism of HTN planning into the simplistic formalism of classical planning is not on par with the performance of current dedicated HTN planners. With our contributions in this paper, we close this gap: we describe new versions of the translation that reach the performance of state-of-the-art dedicated HTN planners. We present new translation techniques both for the special case of totally-ordered HTNs as well as for the general partially-ordered case. In the latter, we show hat our new translation is exponentially smaller than the previous one.

Introduction Video

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