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arXiv · 2609.03938

Towards Numerical TOHTN Planning with SMT-based HTN-SAT Encoding

Gaspard Quenard·Takudzwa Togarepi·Damien Pellier·Humbert Fiorino
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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.

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Gaspard Quenard, Takudzwa Togarepi, Damien Pellier, Humbert Fiorino. 2026-09-03. Towards Numerical TOHTN Planning with SMT-based HTN-SAT Encoding. https://arxiv.org/abs/2609.03938

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