On the Impact of Grounding on HTN Plan Verification via Parsing

Abstract

The problem of hierarchical plan verification focuses on checking whether an action sequence is a valid hierarchical plan - the action sequence is executable and a goal task can be decomposed into it. The existing parsing-based verifier works on lifted domain models.

In this paper we study whether grounding of the models could improve efficiency of the verifier. We also explore additional implementation improvements to increase the speed of the verifier.

Keywords

• Hierarchical Planning
• HTN (Hierarchical Task Network)
• Verification
• Parsing
• Grounding