Disjunctive Planning

• Idea: Consider Partial plans with disjunctive step, ordering, and auxiliary constraints

• Motivation: Provides a lifted search space, avoids re-generating the same failures multiple times (also, rich connections to combinatorial problems)

• Issues:

  • Refining disjunctive plans
    • Graphplan (Blum & Furst, 95)
  • Solution extraction in disjunctive plans
    • Direct combinatorial search
    • Compilation to CSP/SAT/ILP

Solution Extraction

is a combinatorial

Problem

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