var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"bib\":\"https://bercher.net/bibtex/workshops.bib\",\"theme\":\"default\",\"fullnames\":\"1\",\"jsonp\":\"1\",\"hidemenu\":\"1\",\"host\":\"bibbase.org\"},\n      data: [{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Conny\"],\"propositions\":[],\"lastnames\":[\"Olz\"],\"suffixes\":[]},{\"firstnames\":[\"Alexander\"],\"propositions\":[],\"lastnames\":[\"Lodemann\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 7th ICAPS Workshop on Hierarchical Planning (HPlan 2024)\",\"title\":\"An ILP Heuristic for Total-Order HTN Planning\",\"year\":\"2024\",\"abstract\":\"Heuristic Search is still the most successful approach to hierarchical planning, both for finding any and for finding an optimal solution. Yet, there exist only a very small handful heuristics for HTN planning – so there is still huge potential for improvements. It is especially noteworthy that there does not exist a single heuristic that's tailored towards special cases. In this work we propose the very first specialized HTN heuristic, tailored towards totally ordered HTN problems. Our heuristic builds on an existing NP-complete and admissible delete-and-ordering relaxation ILP heuristic but partially incorporates ordering constraints while reducing the number of ILP constraints. It exploits inferred preconditions and effects of compound tasks and is also admissible. Our current heuristic proves to be more efficient than the one we build on, though it still performs worse than other existing (admissible) heuristics.\",\"bibtex\":\"@InProceedings{Olz2024TOILPHeuristic,\\n  author    = {Conny Olz and Alexander Lodemann and Pascal Bercher},\\n  booktitle = {Proceedings of the 7th ICAPS Workshop on Hierarchical Planning (HPlan 2024)},\\n  title     = {An ILP Heuristic for Total-Order HTN Planning},\\n  year      = {2024},\\n  abstract  = {Heuristic Search is still the most successful approach to hierarchical planning, both for finding any and for finding an optimal solution. Yet, there exist only a very small handful heuristics for HTN planning -- so there is still huge potential for improvements. It is especially noteworthy that there does not exist a single heuristic that's tailored towards special cases. In this work we propose the very first specialized HTN heuristic, tailored towards totally ordered HTN problems. Our heuristic builds on an existing NP-complete and admissible delete-and-ordering relaxation ILP heuristic but partially incorporates ordering constraints while reducing the number of ILP constraints. It exploits inferred preconditions and effects of compound tasks and is also admissible. Our current heuristic proves to be more efficient than the one we build on, though it still performs worse than other existing (admissible) heuristics.}\\n}\\n\\n\",\"author_short\":[\"Olz, C.\",\"Lodemann, A.\",\"Bercher, P.\"],\"key\":\"Olz2024TOILPHeuristic\",\"id\":\"Olz2024TOILPHeuristic\",\"bibbaseid\":\"olz-lodemann-bercher-anilpheuristicfortotalorderhtnplanning-2024\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Lijia\"],\"propositions\":[],\"lastnames\":[\"Yuan\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 7th ICAPS Workshop on Hierarchical Planning (HPlan 2024)\",\"title\":\"Towards Search Node-Specific Special-Case Heuristics for HTN Planning – An Empirical Analysis of Search Space Properties under Progression\",\"year\":\"2024\",\"abstract\":\"In hierarchical task network (HTN) planning, heuristic search is highly effective, but currently, there are only a few available heuristics and they are pre-selected for use. However, during the progression-based search, many search nodes exhibit specific properties, e.g., they may become totally ordered or acyclic allowing for the application of specialized heuristics. In these search nodes, we conducted an experimental evaluation, employing reachability analysis, to examine the special cases encountered during the search. Measuring how often these special cases occur informs us of which special cases specialized heuristics are most promising.\",\"bibtex\":\"@InProceedings{Yuan2024HTNSearchSpaceAnalysis,\\n  author    = {Lijia Yuan and Pascal Bercher},\\n  booktitle = {Proceedings of the 7th ICAPS Workshop on Hierarchical Planning (HPlan 2024)},\\n  title     = {Towards Search Node-Specific Special-Case Heuristics for HTN Planning -- An Empirical Analysis of Search Space Properties under Progression},\\n  year      = {2024},\\n  abstract  = {In hierarchical task network (HTN) planning, heuristic search is highly effective, but currently, there are only a few available heuristics and they are pre-selected for use. However, during the progression-based search, many search nodes exhibit specific properties, e.g., they may become totally ordered or acyclic allowing for the application of specialized heuristics. In these search nodes, we conducted an experimental evaluation, employing reachability analysis, to examine the special cases encountered during the search. Measuring how often these special cases occur informs us of which special cases specialized heuristics are most promising.}\\n}\\n\\n\",\"author_short\":[\"Yuan, L.\",\"Bercher, P.\"],\"key\":\"Yuan2024HTNSearchSpaceAnalysis\",\"id\":\"Yuan2024HTNSearchSpaceAnalysis\",\"bibbaseid\":\"yuan-bercher-towardssearchnodespecificspecialcaseheuristicsforhtnplanninganempiricalanalysisofsearchspacepropertiesunderprogression-2024\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the Workshop on the International Planning Competition\",\"title\":\"Envisioning a Domain Learning Track for the IPC\",\"year\":\"2024\",\"abstract\":\"ICKEPS (International Competition on Knowledge Engineering for Planning and Scheduling) was created to make aware of the importance of domain engineering for planning and scheduling, but in past editions humans competed with the help of planning tools, thus encouraging the development of those tools (where humans were an integral part). We propose an IPC Domain Learning track, where learning algorithms would compete completely on their own, creating valid domain models without further use of input other than the constraints (like input plans) they base upon. We believe that this might help to establish some standard in the field of domain learning, such as a standard benchmark set, standard inputs (possibly an input language), and metrics to evaluate the learned domains against.\",\"url_paper\":\"https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf\",\"bibtex\":\"@InProceedings{Behnke2024LearningTrack,\\n  author    = {Gregor Behnke and Pascal Bercher},\\n  booktitle = {Proceedings of the Workshop on the International Planning Competition},\\n  title     = {Envisioning a Domain Learning Track for the IPC},\\n  year      = {2024},\\n  abstract  = {ICKEPS (International Competition on Knowledge Engineering for Planning and Scheduling) was created to make aware of the importance of domain engineering for planning and scheduling, but in past editions humans competed with the help of planning tools, thus encouraging the development of those tools (where humans were an integral part). We propose an IPC Domain Learning track, where learning algorithms would compete completely on their own, creating valid domain models without further use of input other than the constraints (like input plans) they base upon. We believe that this might help to establish some standard in the field of domain learning, such as a standard benchmark set, standard inputs (possibly an input language), and metrics to evaluate the learned domains against.},\\n  url_Paper  = {https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf},\\n}\\n\\n\",\"author_short\":[\"Behnke, G.\",\"Bercher, P.\"],\"key\":\"Behnke2024LearningTrack\",\"id\":\"Behnke2024LearningTrack\",\"bibbaseid\":\"behnke-bercher-envisioningadomainlearningtrackfortheipc-2024\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Mohammad\"],\"propositions\":[],\"lastnames\":[\"Yousefi\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"ICAPS 2024 Demonstrations\",\"title\":\"A Visual Studio Code Extension for Automatically Repairing Planning Domains\",\"year\":\"2024\",\"abstract\":\"We demonstrate a Visual Studio Code extension which aims at providing modeling assistance for modeling planning domains in PDDL. More specifically, the extension can identify potential flaws in a domain and propose respective corrections by taking as input a set of counter-example plans, which are known to be valid but actually contradict the domain. Those input plans shall be provided by the user. The flaws are then identified and corrected by making changes to the domain so as to turn those plans into solutions, i.e., the changes are regarded as potential corrections to the domain. Currently, the extension only supports corrections that add predicates to or remove predicates from actions' preconditions and effects.\",\"bibtex\":\"@InProceedings{Lin2024VSPlugin,\\n  author    = {Songtuan Lin and Mohammad Yousefi and Pascal Bercher},\\n  booktitle = {ICAPS 2024 Demonstrations},\\n  title     = {A Visual Studio Code Extension for Automatically Repairing Planning Domains},\\n  year      = {2024},\\n  abstract  = {We demonstrate a Visual Studio Code extension which aims at providing modeling assistance for modeling planning domains in PDDL. More specifically, the extension can identify potential flaws in a domain and propose respective corrections by taking as input a set of counter-example plans, which are known to be valid but actually contradict the domain. Those input plans shall be provided by the user. The flaws are then identified and corrected by making changes to the domain so as to turn those plans into solutions, i.e., the changes are regarded as potential corrections to the domain. Currently, the extension only supports corrections that add predicates to or remove predicates from actions' preconditions and effects.}\\n}\\n\\n\",\"author_short\":[\"Lin, S.\",\"Yousefi, M.\",\"Bercher, P.\"],\"key\":\"Lin2024VSPlugin\",\"id\":\"Lin2024VSPlugin\",\"bibbaseid\":\"lin-yousefi-bercher-avisualstudiocodeextensionforautomaticallyrepairingplanningdomains-2024\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Conny\"],\"propositions\":[],\"lastnames\":[\"Olz\"],\"suffixes\":[]},{\"firstnames\":[\"Malte\"],\"propositions\":[],\"lastnames\":[\"Helmert\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"On the Computational Complexity of Plan Verification, (Bounded) Plan-Optimality Verification, and Bounded Plan Existence\",\"booktitle\":\"Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)\",\"pages\":\"35–43\",\"year\":\"2023\",\"note\":\"<strong>Erratum:</strong> Corollary 1 and Proposition 5 incorrectly claimed NEXPTIME and co-NEXPTIME membership, respectively. Both should be one exponential harder, which is stated correctly in the AAAI 2024 version of this paper (same Corollary and Proposition).\",\"abstract\":\"In this paper we study the computational complexity of several reasoning tasks centered at the bounded plan existence problem. We do this for standard classical planning and hierarchical task network (HTN) planning and each for the grounded and the lifted representation. Whereas bounded plan existence complexity is known for classical planning, it has not been studied yet for HTN planning. For plan verification, results were available for both formalisms except the lifted representation of HTN planning. We will thus present the lower bound and the upper bound of the complexity of plan verification in lifted HTN planning and provide novel insights into its grounded counterpart, in which we show that verification is not just NP-complete in the general case, but already for a severely restricted special case. Finally, we show the computational complexity concerning the optimality of a given plan, i.e., answering the question whether such a plan is optimal, and discuss its connection to the bounded plan existence problem.\",\"url_paper\":\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf\",\"url_slides\":\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExSlides.pdf\",\"url_poster\":\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExPoster.pdf\",\"bibtex\":\"@InProceedings{Lin2023VerificationComplexity,\\n  author     = {Songtuan Lin and Conny Olz and Malte Helmert and Pascal Bercher},\\n  title      = {On the Computational Complexity of Plan Verification, (Bounded) Plan-Optimality Verification, and Bounded Plan Existence},\\n  booktitle  = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},\\n  pages      = {35--43},\\n  year       = {2023},\\n  note      = {<strong>Erratum:</strong> Corollary 1 and Proposition 5 incorrectly claimed NEXPTIME and co-NEXPTIME membership, respectively. Both should be one exponential harder, which is stated correctly in the AAAI 2024 version of this paper (same Corollary and Proposition).},\\n  abstract   = {In this paper we study the computational complexity of several reasoning tasks centered at the bounded plan existence problem. We do this for standard classical planning and hierarchical task network (HTN) planning and each for the grounded and the lifted representation. Whereas bounded plan existence complexity is known for classical planning, it has not been studied yet for HTN planning. For plan verification, results were available for both formalisms except the lifted representation of HTN planning. We will thus present the lower bound and the upper bound of the complexity of plan verification in lifted HTN planning and provide novel insights into its grounded counterpart, in which we show that verification is not just NP-complete in the general case, but already for a severely restricted special case. Finally, we show the computational complexity concerning the optimality of a given plan, i.e., answering the question whether such a plan is optimal, and discuss its connection to the bounded plan existence problem.},\\n  url_Paper  = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf},\\n  url_Slides = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExSlides.pdf},\\n  url_Poster = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExPoster.pdf}\\n}\\n\\n\",\"author_short\":[\"Lin, S.\",\"Olz, C.\",\"Helmert, M.\",\"Bercher, P.\"],\"key\":\"Lin2023VerificationComplexity\",\"id\":\"Lin2023VerificationComplexity\",\"bibbaseid\":\"lin-olz-helmert-bercher-onthecomputationalcomplexityofplanverificationboundedplanoptimalityverificationandboundedplanexistence-2023\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf\",\" slides\":\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExSlides.pdf\",\" poster\":\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExPoster.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Conny\"],\"propositions\":[],\"lastnames\":[\"Olz\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements\",\"booktitle\":\"Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)\",\"note\":\"This paper was simultaneously accepted at SoCS and hence only published there.\",\"year\":\"2023\",\"abstract\":\"In HTN planning the choice of decomposition methods used to refine compound tasks is key to finding a valid plan. Based on inferred preconditions and effects of compound tasks, we propose a look-ahead technique for search-based total-order HTN planning that can identify inevitable refinement choices and in some cases dead-ends. The former occurs when all but one decomposition method for some task are proven infeasible for turning a task network into a solution, whereas the latter occurs when all methods are proven infeasible. We show how it can be used for pruning, as well as to strengthen heuristics and to reduce the search branching factor. An empirical evaluation proves its potential as incorporating it improves an existing HTN planner such that it is the currently best performing one in terms of coverage and IPC score.\",\"url_paper\":\"https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf\",\"bibtex\":\"@InProceedings{Olz2023bTOLookAhead,\\n  author    = {Conny Olz and Pascal Bercher},\\n  title     = {A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements},\\n  booktitle = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},\\n  note      = {This paper was simultaneously accepted at SoCS and hence only published there.},\\n  year      = {2023},\\n  abstract  = {In HTN planning the choice of decomposition methods used to refine compound tasks is key to finding a valid plan. Based on inferred preconditions and effects of compound tasks, we propose a look-ahead technique for search-based total-order HTN planning that can identify inevitable refinement choices and in some cases dead-ends. The former occurs when all but one decomposition method for some task are proven infeasible for turning a task network into a solution, whereas the latter occurs when all methods are proven infeasible. We show how it can be used for pruning, as well as to strengthen heuristics and to reduce the search branching factor. An empirical evaluation proves its potential as incorporating it improves an existing HTN planner such that it is the currently best performing one in terms of coverage and IPC score.},\\n  url_Paper = {https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf}\\n}\\n\\n\",\"author_short\":[\"Olz, C.\",\"Bercher, P.\"],\"key\":\"Olz2023bTOLookAhead\",\"id\":\"Olz2023bTOLookAhead\",\"bibbaseid\":\"olz-bercher-alookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":20,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Ying\",\"Xian\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"33rd PuK Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2022)\",\"title\":\"Finding Solution Preserving Linearizations For Partially Ordered Hierarchical Planning Problems\",\"year\":\"2022\",\"abstract\":\"Solving partially ordered hierarchical planning problems is more computationally expensive compared to solving totally ordered ones. Therefore, automatically transforming partially ordered problem domains into totally ordered ones, such that the totally ordered problem still retains at least one solution, would be a desired capability as it would reduce complexity and thus make it easier for planning systems to solve the problem. This is a complex endeavour, because even creating all possible linearizations of all methods in the original domain does not guarantee that solutions are preserved. It also allows the planner to use algorithms and heuristics specialised for the totally ordered case to solve the transformed problem. In this paper, we propose an algorithm for converting partially ordered problems into totally ordered ones and give criterion for when this is possible. We test our techniques on the partially-ordered track of the bench-mark set of the IPC 2020 and solve both the linearized and the original partially-ordered problems using state-of-the-art planning systems. We find that in the majority of problems across a variety of domains, the linearized problem remains solvable, and can always be solved faster than the without our proposed pre-processing technique.\",\"url_paper\":\"https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf\",\"url_slides\":\"https://bercher.net/publications/2022/Wu2022HTNLinearizationSlides.pdf\",\"url_workshop\":\"http://www.member.uni-oldenburg.de/juergen.sauer/PuK/PuK2022/index.html\",\"bibtex\":\"@InProceedings{Wu2022HTNLinearization,\\n  author       = {Ying Xian Wu and Songtuan Lin and Gregor Behnke and Pascal Bercher},\\n  booktitle    = {33rd {PuK} Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' ({PuK} 2022)},\\n  title        = {Finding Solution Preserving Linearizations For Partially Ordered Hierarchical Planning Problems},\\n  year         = {2022},\\n  abstract     = {Solving partially ordered hierarchical planning problems is more computationally expensive compared to solving totally ordered ones. Therefore, automatically transforming partially ordered problem domains into totally ordered ones, such that the totally ordered problem still retains at least one solution, would be a desired capability as it would reduce complexity and thus make it easier for planning systems to solve the problem. This is a complex endeavour, because even creating all possible linearizations of all methods in the original domain does not guarantee that solutions are preserved. It also allows the planner to use algorithms and heuristics specialised for the totally ordered case to solve the transformed problem. In this paper, we propose an algorithm for converting partially ordered problems into totally ordered ones and give criterion for when this is possible. We test our techniques on the partially-ordered track of the bench-mark set of the IPC 2020 and solve both the linearized and the original partially-ordered problems using state-of-the-art planning systems. We find that in the majority of problems across a variety of domains, the linearized problem remains solvable, and can always be solved faster than the without our proposed pre-processing technique.},\\n  url_Paper    = {https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf},\\n  url_Slides   = {https://bercher.net/publications/2022/Wu2022HTNLinearizationSlides.pdf},\\n  url_Workshop = {http://www.member.uni-oldenburg.de/juergen.sauer/PuK/PuK2022/index.html}\\n}\\n\\n\",\"author_short\":[\"Wu, Y. X.\",\"Lin, S.\",\"Behnke, G.\",\"Bercher, P.\"],\"key\":\"Wu2022HTNLinearization\",\"id\":\"Wu2022HTNLinearization\",\"bibbaseid\":\"wu-lin-behnke-bercher-findingsolutionpreservinglinearizationsforpartiallyorderedhierarchicalplanningproblems-2022\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf\",\" slides\":\"https://bercher.net/publications/2022/Wu2022HTNLinearizationSlides.pdf\",\" workshop\":\"http://www.member.uni-oldenburg.de/juergen.sauer/PuK/PuK2022/index.html\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Alban\"],\"propositions\":[],\"lastnames\":[\"Grastien\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 33rd International Workshop on Principles of Diagnosis (DX 2022)\",\"title\":\"Planning Domain Repair as a Diagnosis Problem\",\"year\":\"2022\",\"abstract\":\"Techniques for diagnosis have been used in many applications. We explore the connection between diagnosis and AI planning in this paper and apply the diagnosis algorithm to repair a flawed planning domain. In particular, the scenario we are concerned with is that we are given a plan which is supposed to be a solution to a planning problem, but it is actually not due to some flaws in the planning domain, and we want to repair the domain to turn the plan into a solution. For this, we will first frame this problem as a diagnosis problem and then solve it via using diagnosis algorithms.\",\"url_paper\":\"https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf\",\"url_slides\":\"https://bercher.net/publications/2022/Lin2022RepairAsDiagnosisSlides.pdf\",\"bibtex\":\"@InProceedings{Lin2022RepairAsDiagnosis,\\n  author     = {Songtuan Lin and Alban Grastien and Pascal Bercher},\\n  booktitle  = {Proceedings of the 33rd International Workshop on Principles of Diagnosis (DX 2022)},\\n  title      = {Planning Domain Repair as a Diagnosis Problem},\\n  year       = {2022},\\n  abstract   = {Techniques for diagnosis have been used in many applications. We explore the connection between diagnosis and AI planning in this paper and apply the diagnosis algorithm to repair a flawed planning domain. In particular, the scenario we are concerned with is that we are given a plan which is supposed to be a solution to a planning problem, but it is actually not due to some flaws in the planning domain, and we want to repair the domain to turn the plan into a solution. For this, we will first frame this problem as a diagnosis problem and then solve it via using diagnosis algorithms.},\\n  url_Paper  = {https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf},\\n  url_Slides = {https://bercher.net/publications/2022/Lin2022RepairAsDiagnosisSlides.pdf},\\n}\\n\\n\",\"author_short\":[\"Lin, S.\",\"Grastien, A.\",\"Bercher, P.\"],\"key\":\"Lin2022RepairAsDiagnosis\",\"id\":\"Lin2022RepairAsDiagnosis\",\"bibbaseid\":\"lin-grastien-bercher-planningdomainrepairasadiagnosisproblem-2022\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf\",\" slides\":\"https://bercher.net/publications/2022/Lin2022RepairAsDiagnosisSlides.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":10,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)\",\"title\":\"Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving\",\"year\":\"2022\",\"pages\":\"24–28\",\"abstract\":\"The research on the plan verification problem has drawn increasing attention in the last few years. It can serve as an approach for validating a planning domain by viewing an input plan as a test case which is supposed to be a solution to a planning problem in the domain which is to be validated. In this paper, we study the plan verification problem in the context of Hierarchical Task Network (HTN) planning. Concretely, we will develop an SAT-based approach via exploiting the data structures solution order graphs and path decomposition trees employed by the state-of-the-art SAT-based HTN planner which transforms an HTN plan verification problem into an SAT formula. Additionally, for the purpose of completeness, we will also reimplement the old SAT-based plan verifier within an outdated planning system called PANDA-3 and integrate it into the new version called PANDA-pi.\",\"url_paper\":\"https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf\",\"url_poster\":\"https://bercher.net/publications/2022/Lin2022SATbasedVerificationPoster.pdf\",\"url_presentation\":\"https://youtu.be/DbDTuY7dOxM\",\"bibtex\":\"@InProceedings{Lin2022SATviaSOGs,\\n  author           = {Songtuan Lin and Gregor Behnke and Pascal Bercher},\\n  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},\\n  title            = {Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving},\\n  year             = {2022},\\n  pages            = {24--28},\\n  abstract         = {The research on the plan verification problem has drawn increasing attention in the last few years. It can serve as an approach for validating a planning domain by viewing an input plan as a test case which is supposed to be a solution to a planning problem in the domain which is to be validated. In this paper, we study the plan verification problem in the context of Hierarchical Task Network (HTN) planning. Concretely, we will develop an SAT-based approach via exploiting the data structures solution order graphs and path decomposition trees employed by the state-of-the-art SAT-based HTN planner which transforms an HTN plan verification problem into an SAT formula. Additionally, for the purpose of completeness, we will also reimplement the old SAT-based plan verifier within an outdated planning system called PANDA-3 and integrate it into the new version called PANDA-pi.},\\n  url_Paper        = {https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf},\\n  url_Poster       = {https://bercher.net/publications/2022/Lin2022SATbasedVerificationPoster.pdf},\\n  url_presentation = {https://youtu.be/DbDTuY7dOxM}\\n}\\n\\n\",\"author_short\":[\"Lin, S.\",\"Behnke, G.\",\"Bercher, P.\"],\"key\":\"Lin2022SATviaSOGs\",\"id\":\"Lin2022SATviaSOGs\",\"bibbaseid\":\"lin-behnke-bercher-exploitingsolutionordergraphsandpathdecompositiontreesformoreefficienthtnplanverificationviasatsolving-2022\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf\",\" poster\":\"https://bercher.net/publications/2022/Lin2022SATbasedVerificationPoster.pdf\",\" presentation\":\"https://youtu.be/DbDTuY7dOxM\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":17,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Simona\"],\"propositions\":[],\"lastnames\":[\"Ondrčková\"],\"suffixes\":[]},{\"firstnames\":[\"Roman\"],\"propositions\":[],\"lastnames\":[\"Barták\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)\",\"title\":\"On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm\",\"year\":\"2022\",\"pages\":\"52–58\",\"abstract\":\"In this paper, we consider the plan verification problem for totally ordered (TO) HTN planning. The problem is proved to be solvable in polynomial time by recognizing its connection to the membership decision problem for context-free grammars. The current state-of-the-art TO plan verifier solves the problem by a blind search approach in order to deal with some state constraints and henceforth results in several overheads. However, many existing TOHTN planning benchmarks do not have these constraints. Hence, we ignore them in the paper and develop a TOHTN plan verification approach which avoids those overheads in the state-of-the-art TO verifier via extending the CYK algorithm.\",\"url_paper\":\"https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf\",\"url_poster\":\"https://bercher.net/publications/2022/Lin2022HTNCYKParsingPoster.pdf\",\"url_presentation\":\"https://youtu.be/AJqmbG9Bs2M\",\"bibtex\":\"@InProceedings{Lin2022CYKParsing,\\n  author           = {Songtuan Lin and Gregor Behnke and Simona Ondrčková and Roman Barták and Pascal Bercher},\\n  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},\\n  title            = {On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm},\\n  year             = {2022},\\n  pages            = {52--58},\\n  abstract         = {In this paper, we consider the plan verification problem for totally ordered (TO) HTN planning. The problem is proved to be solvable in polynomial time by recognizing its connection to the membership decision problem for context-free grammars. The current state-of-the-art TO plan verifier solves the problem by a blind search approach in order to deal with some state constraints and henceforth results in several overheads. However, many existing TOHTN planning benchmarks do not have these constraints. Hence, we ignore them in the paper and develop a TOHTN plan verification approach which avoids those overheads in the state-of-the-art TO verifier via extending the CYK algorithm.},\\n  url_Paper        = {https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf},\\n  url_Poster       = {https://bercher.net/publications/2022/Lin2022HTNCYKParsingPoster.pdf},\\n  url_presentation = {https://youtu.be/AJqmbG9Bs2M}\\n}\\n\\n\",\"author_short\":[\"Lin, S.\",\"Behnke, G.\",\"Ondrčková, S.\",\"Barták, R.\",\"Bercher, P.\"],\"key\":\"Lin2022CYKParsing\",\"id\":\"Lin2022CYKParsing\",\"bibbaseid\":\"lin-behnke-ondrkov-bartk-bercher-ontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2022\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf\",\" poster\":\"https://bercher.net/publications/2022/Lin2022HTNCYKParsingPoster.pdf\",\" presentation\":\"https://youtu.be/AJqmbG9Bs2M\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":19,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Conny\"],\"propositions\":[],\"lastnames\":[\"Olz\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)\",\"title\":\"On the Efficient Inference of Preconditions and Effects of Compound Tasks in Partially Ordered HTN Planning Domains\",\"year\":\"2022\",\"pages\":\"47–51\",\"abstract\":\"Recently, preconditions and effects of compound tasks based on their possible refinements have been introduced together with an efficient inference procedure to compute a subset of them. However, they were restricted to total-order HTN planning domains. In this paper we generalize the definitions and algorithm to the scenario of partially ordered domains.\",\"url_paper\":\"https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf\",\"url_presentation\":\"https://youtu.be/QsQsXBYu0yI\",\"bibtex\":\"@InProceedings{Olz2022POPrecsAndEffects,\\n  author           = {Conny Olz and Pascal Bercher},\\n  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},\\n  title            = {On the Efficient Inference of Preconditions and Effects of Compound Tasks in Partially Ordered HTN Planning Domains},\\n  year             = {2022},\\n  Pages            = {47--51},\\n  abstract         = {Recently, preconditions and effects of compound tasks based on their possible refinements have been introduced together with an efficient inference procedure to compute a subset of them. However, they were restricted to total-order HTN planning domains. In this paper we generalize the definitions and algorithm to the scenario of partially ordered domains.},\\n  url_Paper        = {https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf},\\n  url_presentation = {https://youtu.be/QsQsXBYu0yI}\\n}\\n\\n\",\"author_short\":[\"Olz, C.\",\"Bercher, P.\"],\"key\":\"Olz2022POPrecsAndEffects\",\"id\":\"Olz2022POPrecsAndEffects\",\"bibbaseid\":\"olz-bercher-ontheefficientinferenceofpreconditionsandeffectsofcompoundtasksinpartiallyorderedhtnplanningdomains-2022\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf\",\" presentation\":\"https://youtu.be/QsQsXBYu0yI\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Christopher\"],\"propositions\":[],\"lastnames\":[\"Johnson\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Charles\"],\"propositions\":[],\"lastnames\":[\"Gretton\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 14th Workshop on Heuristics and Search for Domain-independent Planning (HSDIP 2022)\",\"title\":\"A Study of the Power of Heuristic-based Pruning via SAT Planning\",\"year\":\"2022\",\"abstract\":\"Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information. We make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.\",\"note\":\"This paper has also been accepted at KEPS 2022.\",\"url_paper\":\"https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf\",\"url_presentation\":\"https://www.youtube.com/watch?v=HFntrSAyszU\",\"url_openreview\":\"https://openreview.net/forum?id=c2-QShxGZt\",\"bibtex\":\"@InProceedings{Johnson2022aSATPruning,\\n  author           = {Christopher Johnson and Pascal Bercher and Charles Gretton},\\n  booktitle        = {Proceedings of the 14th Workshop on Heuristics and Search for Domain-independent Planning (HSDIP 2022)},\\n  title            = {A Study of the Power of Heuristic-based Pruning via SAT Planning},\\n  year             = {2022},\\n  abstract         = {Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information.\\nWe make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.},\\n  note             = {This paper has also been accepted at KEPS 2022.},\\n  url_Paper        = {https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf},\\n  url_presentation = {https://www.youtube.com/watch?v=HFntrSAyszU},\\n  url_openReview   = {https://openreview.net/forum?id=c2-QShxGZt}\\n}\\n\\n\",\"author_short\":[\"Johnson, C.\",\"Bercher, P.\",\"Gretton, C.\"],\"key\":\"Johnson2022aSATPruning\",\"id\":\"Johnson2022aSATPruning\",\"bibbaseid\":\"johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf\",\" presentation\":\"https://www.youtube.com/watch?v=HFntrSAyszU\",\" openreview\":\"https://openreview.net/forum?id=c2-QShxGZt\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Christopher\"],\"propositions\":[],\"lastnames\":[\"Johnson\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Charles\"],\"propositions\":[],\"lastnames\":[\"Gretton\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 11th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2022)\",\"title\":\"A Study of the Power of Heuristic-based Pruning via SAT Planning\",\"year\":\"2022\",\"abstract\":\"Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information. We make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.\",\"note\":\"This paper has also been accepted at HSDIP 2022, the linked openReview reviews are from HSDIP.\",\"url_paper\":\"https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf\",\"url_openreview\":\"https://openreview.net/forum?id=c2-QShxGZt\",\"bibtex\":\"@InProceedings{Johnson2022bSATPruning,\\n  author    = {Christopher Johnson and Pascal Bercher and Charles Gretton},\\n  booktitle = {Proceedings of the 11th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2022)},\\n  title     = {A Study of the Power of Heuristic-based Pruning via SAT Planning},\\n  year      = {2022},\\n  abstract  = {Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information.\\nWe make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.},\\n  note      = {This paper has also been accepted at HSDIP 2022, the linked openReview reviews are from HSDIP.},\\n  url_Paper     = {https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf},\\n  url_openReview = {https://openreview.net/forum?id=c2-QShxGZt}\\n}\\n\\n\",\"author_short\":[\"Johnson, C.\",\"Bercher, P.\",\"Gretton, C.\"],\"key\":\"Johnson2022bSATPruning\",\"id\":\"Johnson2022bSATPruning\",\"bibbaseid\":\"johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf\",\" openreview\":\"https://openreview.net/forum?id=c2-QShxGZt\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Conny\"],\"propositions\":[],\"lastnames\":[\"Olz\"],\"suffixes\":[]},{\"firstnames\":[\"Eva\"],\"propositions\":[],\"lastnames\":[\"Wierzba\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Felix\"],\"propositions\":[],\"lastnames\":[\"Lindner\"],\"suffixes\":[]}],\"title\":\"Towards Improving the Comprehension of HTN Planning Domains by Means of Preconditions and Effects of Compound Tasks\",\"booktitle\":\"Proceedings of the 10th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2021)\",\"year\":\"2021\",\"abstract\":\"Hierarchical Task Network (HTN) planning is a paradigm that offers engineers a formalism for modeling planning domains in terms of possible decompositions of compound tasks. A complete decomposition of a compound task results in totally or partially ordered primitive tasks, i.e., plans in the classical sense. Existing specification languages for HTN domains, such as HDDL, do only allow the assertion of preconditions and effects for primitive tasks but not for compound ones. Recently, a method for inferring preconditions and effects for compound tasks was proposed. It was hypothesized that inferred preconditions and effects can aid knowledge engineers in understanding HTN domain specifications and in predicting the meaning of particular compound tasks. We describe preliminary results from a study that supports this hypothesis and discuss future research directions.\",\"url_paper\":\"https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf\",\"url_slides\":\"https://bercher.net/publications/2021/Olz2021ComprehendHTNModelsSlides.pdf\",\"url_video-of-paper-presentation\":\"https://www.youtube.com/watch?v=jLcTjrtNhaY&list=PLd_hcmfMPvAhDzHla0ZR6dNsiKBlwsx6K&index=11\",\"bibtex\":\"@InProceedings{Olz2021ComprehendHTNModels,\\n  author    = {Conny Olz and Eva Wierzba and Pascal Bercher and Felix Lindner},\\n  title     = {Towards Improving the Comprehension of HTN Planning Domains by Means of Preconditions and Effects of Compound Tasks},\\n  booktitle = {Proceedings of the 10th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2021)},\\n  year      = {2021},\\n  abstract  = {Hierarchical Task Network (HTN) planning is a paradigm that offers engineers a formalism for modeling planning domains in terms of possible decompositions of compound tasks. A complete decomposition of a compound task results in totally or partially ordered primitive tasks, i.e., plans in the classical sense. Existing specification languages for HTN domains, such as HDDL, do only allow the assertion of preconditions and effects for primitive tasks but not for compound ones. Recently, a method for inferring preconditions and effects for compound tasks was proposed. It was hypothesized that inferred preconditions and effects can aid knowledge engineers in understanding HTN domain specifications and in predicting the meaning of particular compound tasks. We describe preliminary results from a study that supports this hypothesis and discuss future research directions.},\\n  url_Paper = {https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf},\\n  url_Slides = {https://bercher.net/publications/2021/Olz2021ComprehendHTNModelsSlides.pdf},\\n  url_video-of-paper-presentation = {https://www.youtube.com/watch?v=jLcTjrtNhaY&list=PLd_hcmfMPvAhDzHla0ZR6dNsiKBlwsx6K&index=11}\\n}\\n\\n\",\"author_short\":[\"Olz, C.\",\"Wierzba, E.\",\"Bercher, P.\",\"Lindner, F.\"],\"key\":\"Olz2021ComprehendHTNModels\",\"id\":\"Olz2021ComprehendHTNModels\",\"bibbaseid\":\"olz-wierzba-bercher-lindner-towardsimprovingthecomprehensionofhtnplanningdomainsbymeansofpreconditionsandeffectsofcompoundtasks-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf\",\" slides\":\"https://bercher.net/publications/2021/Olz2021ComprehendHTNModelsSlides.pdf\",\" video-of-paper-presentation\":\"https://www.youtube.com/watch?v=jLcTjrtNhaY&list=PLd_hcmfMPvAhDzHla0ZR6dNsiKBlwsx6K&index=11\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":4,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Dillon\"],\"propositions\":[],\"lastnames\":[\"Chen\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"The Complexity of Flexible FOND HTN Planning\",\"booktitle\":\"Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)\",\"year\":\"2021\",\"pages\":\"62–70\",\"abstract\":\"Hierarchical Task Network (HTN) planning is an expressive planning formalism that has often been advocated as a first choice to address real-world problems. Yet only a few extensions exist that can deal with the many challenges encountered in the real world. One of them is the capability to express uncertainty. Recently, a new HTN formalism for Fully Observable Nondeterministic (FOND) problems was proposed and studied theoretically. In this paper, we lay out limitations of that formalism and propose an alternative definition, which addresses and resolves such` limitations. We conduct a complexity study of an alternative, more flexible formalism and provide tight complexity bounds for most of the investigated special cases of the problem.\",\"url_paper\":\"https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf\",\"bibtex\":\"@InProceedings{Chen2021FlexibleFONDHTNs,\\n  author    = {Dillon Chen and Pascal Bercher},\\n  title     = {The Complexity of Flexible FOND HTN Planning},\\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\\n  year      = {2021},\\n  pages     = {62--70},\\n  abstract  = {Hierarchical Task Network (HTN) planning is an expressive planning formalism that has often been advocated as a first choice to address real-world problems. Yet only a few extensions exist that can deal with the many challenges encountered in the real world. One of them is the capability to express uncertainty. Recently, a new HTN formalism for Fully Observable Nondeterministic (FOND) problems was proposed and studied theoretically. In this paper, we lay out limitations of that formalism and propose an alternative definition, which addresses and resolves such` limitations. We conduct a complexity study of an alternative, more flexible formalism and provide tight complexity bounds for most of the investigated special cases of the problem.},\\n  url_Paper = {https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf}\\n}\\n\\n\",\"author_short\":[\"Chen, D.\",\"Bercher, P.\"],\"key\":\"Chen2021FlexibleFONDHTNs\",\"id\":\"Chen2021FlexibleFONDHTNs\",\"bibbaseid\":\"chen-bercher-thecomplexityofflexiblefondhtnplanning-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Julia\"],\"propositions\":[],\"lastnames\":[\"Wichlacz\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]}],\"title\":\"Compiling HTN Plan Verification Problems to HTN Planning Problems\",\"booktitle\":\"Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)\",\"year\":\"2021\",\"pages\":\"8–15\",\"abstract\":\"Plan Verification is the task of deciding whether a sequence of actions is a solution for a given planning problem. In HTN planning, the task is computationally expensive and may be up to NP-hard. However, there are situations where it needs to be solved, e.g. when a solution is post-processed, in systems using approximation, or just to validate whether a planning system works correctly (e.g. for debugging or in a competition). In the literature, there are verification systems based on translations to propositional logic and based on techniques from parsing. Here we present a third approach and translate plan verification problems to HTN planning problems. These can be solved using any HTN planning system. We test our solver on the set of solutions from the 2020 International Planning Competition. Our evaluation is yet preliminary, because it does not include all systems from the literature, but it already shows that our approach performs well compared with the included systems.\",\"url_paper\":\"https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf\",\"bibtex\":\"@InProceedings{Hoeller2021VerificationViaPlanning,\\n  author    = {Daniel H\\\\\\\"oller and Julia Wichlacz and Pascal Bercher and Gregor Behnke},\\n  title     = {Compiling HTN Plan Verification Problems to HTN Planning Problems},\\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\\n  year      = {2021},\\n  pages     = {8--15},\\n  abstract  = {Plan Verification is the task of deciding whether a sequence of actions is a solution for a given planning problem. In HTN planning, the task is computationally expensive and may be up to NP-hard. However, there are situations where it needs to be solved, e.g. when a solution is post-processed, in systems using approximation, or just to validate whether a planning system works correctly (e.g. for debugging or in a competition). In the literature, there are verification systems based on translations to propositional logic and based on techniques from parsing. Here we present a third approach and translate plan verification problems to HTN planning problems. These can be solved using any HTN planning system. We test our solver on the set of solutions from the 2020 International Planning Competition. Our evaluation is yet preliminary, because it does not include all systems from the literature, but it already shows that our approach performs well compared with the included systems.},\\n  url_Paper = {https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf}\\n}\\n\\n\",\"author_short\":[\"Höller, D.\",\"Wichlacz, J.\",\"Bercher, P.\",\"Behnke, G.\"],\"key\":\"Hoeller2021VerificationViaPlanning\",\"id\":\"Hoeller2021VerificationViaPlanning\",\"bibbaseid\":\"hller-wichlacz-bercher-behnke-compilinghtnplanverificationproblemstohtnplanningproblems-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Jane\",\"Jean\"],\"propositions\":[],\"lastnames\":[\"Kiam\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Axel\"],\"propositions\":[],\"lastnames\":[\"Schulte\"],\"suffixes\":[]}],\"title\":\"Temporal Hierarchical Task Network Planning with Nested Multi-Vehicle Routing Problems – A Challenge to be Resolved\",\"booktitle\":\"Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)\",\"year\":\"2021\",\"pages\":\"71–75\",\"abstract\":\"This paper focuses on presenting a complex real-world planning application based on a rescue mission. While temporal hierarchical planning seems to be a promising solution to such class of problems, given its ability to consider experts' knowledge and dissect the search space, many major challenges of complex real-world planning problems are not addressed yet formally, i.e. recursive decomposition to achieve a goal state, optimization of utility functions defined for abstract tasks, and optimal allocation of tasks to multiple actors.\",\"url_paper\":\"https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf\",\"bibtex\":\"@InProceedings{Kiam2021TemporalHTNsChallenge,\\n  author    = {Jane Jean Kiam and Pascal Bercher and Axel Schulte},\\n  title     = {Temporal Hierarchical Task Network Planning with Nested Multi-Vehicle Routing Problems -- A Challenge to be Resolved},\\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\\n  year      = {2021},\\n  pages     = {71--75},\\n  abstract  = {This paper focuses on presenting a complex real-world planning application based on a rescue mission. While temporal hierarchical planning seems to be a promising solution to such class of problems, given its ability to consider experts' knowledge and dissect the search space, many major challenges of complex real-world planning problems are not addressed yet formally, i.e. recursive decomposition to achieve a goal state, optimization of utility functions defined for abstract tasks, and optimal allocation of tasks to multiple actors.},\\n  url_Paper = {https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf}\\n}\\n\\n\",\"author_short\":[\"Kiam, J. J.\",\"Bercher, P.\",\"Schulte, A.\"],\"key\":\"Kiam2021TemporalHTNsChallenge\",\"id\":\"Kiam2021TemporalHTNsChallenge\",\"bibbaseid\":\"kiam-bercher-schulte-temporalhierarchicaltasknetworkplanningwithnestedmultivehicleroutingproblemsachallengetoberesolved-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":5,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"On the Computational Complexity of Correcting HTN Domain Models\",\"booktitle\":\"Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)\",\"year\":\"2021\",\"pages\":\"35–43\",\"abstract\":\"Incorporating user requests into planning processes is a key concept in developing flexible planning technologies. Such systems may be required to change its planning model to adapt to certain user requests. In this paper, we assume a user provides a non-solution plan to a system and asks it to change the planning model so that the plan becomes a solution. We study the computational complexity of deciding whether such changes exist in the context of Hierarchical Task Network (HTN) planning. We prove that the problem is NP-complete in general independent of what or how many changes are allowed. We also identify several conditions which make the problem tractable when they are satisfied.\",\"url_paper\":\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf\",\"url_slides\":\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexitySlides.pdf\",\"url_poster\":\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexityPoster.pdf\",\"bibtex\":\"@InProceedings{Lin2021CorrectingHTNModels,\\n  author    = {Songtuan Lin and Pascal Bercher},\\n  title     = {On the Computational Complexity of Correcting HTN Domain Models},\\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\\n  year      = {2021},\\n  pages     = {35--43},\\n  abstract  = {Incorporating user requests into planning processes is a key concept in developing flexible planning technologies. Such systems may be required to change its planning model to adapt to certain user requests. In this paper, we assume a user provides a non-solution plan to a system and asks it to change the planning model so that the plan becomes a solution. We study the computational complexity of deciding whether such changes exist in the context of Hierarchical Task Network (HTN) planning. We prove that the problem is NP-complete in general independent of what or how many changes are allowed. We also identify several conditions which make the problem tractable when they are satisfied.},\\n  url_Paper = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf},\\n  url_Slides = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexitySlides.pdf},\\n  url_Poster = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexityPoster.pdf}\\n}\\n\\n\",\"author_short\":[\"Lin, S.\",\"Bercher, P.\"],\"key\":\"Lin2021CorrectingHTNModels\",\"id\":\"Lin2021CorrectingHTNModels\",\"bibbaseid\":\"lin-bercher-onthecomputationalcomplexityofcorrectinghtndomainmodels-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf\",\" slides\":\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexitySlides.pdf\",\" poster\":\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexityPoster.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":10,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Roman\"],\"propositions\":[],\"lastnames\":[\"Barták\"],\"suffixes\":[]},{\"firstnames\":[\"Simona\"],\"propositions\":[],\"lastnames\":[\"Ondrčková\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"On the Verification of Totally-Ordered HTN Plans\",\"booktitle\":\"Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)\",\"year\":\"2021\",\"pages\":\"44–48\",\"abstract\":\"Verifying HTN plans is an intractable problem with two existing approaches to solve the problem. One technique is based on compilation to SAT. Another method is using parsing, and it is currently the fastest technique for verifying HTN plans. In this paper, we propose an extension of the parsing-based approach to verify totally-ordered HTN plans. This problem is known to be tractable, and we show theoretically and empirically that the modified parsing approach achieves better performance than the currently fastest HTN plan verifier when applied to totally-ordered HTN plans.\",\"url_paper\":\"https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf\",\"bibtex\":\"@InProceedings{Bartak2021TOHTNVerification,\\n  author    = {Roman Bart{\\\\'a}k and Simona Ondr\\\\v{c}kov\\\\'{a} and Gregor Behnke and Pascal Bercher},\\n  title     = {On the Verification of Totally-Ordered HTN Plans},\\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\\n  year      = {2021},\\n  pages     = {44--48},\\n  abstract  = {Verifying HTN plans is an intractable problem with two existing approaches to solve the problem. One technique is based on compilation to SAT. Another method is using parsing, and it is currently the fastest technique for verifying HTN plans. In this paper, we propose an extension of the parsing-based approach to verify totally-ordered HTN plans. This problem is known to be tractable, and we show theoretically and empirically that the modified parsing approach achieves better performance than the currently fastest HTN plan verifier when applied to totally-ordered HTN plans.},\\n  url_Paper = {https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf}\\n}\\n\\n\",\"author_short\":[\"Barták, R.\",\"Ondrčková, S.\",\"Behnke, G.\",\"Bercher, P.\"],\"key\":\"Bartak2021TOHTNVerification\",\"id\":\"Bartak2021TOHTNVerification\",\"bibbaseid\":\"bartk-ondrkov-behnke-bercher-ontheverificationoftotallyorderedhtnplans-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":9,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"Landmark Extraction in HTN Planning\",\"booktitle\":\"Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)\",\"year\":\"2020\",\"pages\":\"9–17\",\"abstract\":\"Landmarks are a valuable source of information for heuristics in planning. They have been used both in classical and hierarchical planning, but while there is much work in classical planning, the techniques in hierarchical planning are less evolved. In this paper we summarize landmark techniques for HTN planning, discuss their limitations, and show how to use techniques from classical planning to find more landmarks in HTN planning than previously possible. On a widely used benchmark set, our approach finds 2.3 times the number of landmarks compared to the approach from the literature. We conduct some preliminary tests on landmark-based heuristics for HTN planning. Our empirical evaluation shows that the heuristics based on our new extraction method perform better than the one based on the extraction technique from the literature. However, all landmark-based heuristics are not competitive with recent heuristics in HTN planning.\",\"note\":\"<strong>Erratum:</strong> Corollary 1 incorrectly claims an NP-completeness result. This should be co-NP-complete, which is stated correctly in the AAAI 2021 version of this paper (also Corollary 1).\",\"url_paper\":\"https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf\",\"bibtex\":\"@InProceedings{Hoeller2020Landmarks,\\n  author    = {Daniel Höller and Pascal Bercher},\\n  title     = {Landmark Extraction in HTN Planning},\\n  booktitle = {Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)},\\n  year      = {2020},\\n  pages     = {9--17},\\n  abstract  = {Landmarks are a valuable source of information for heuristics in planning. They have been used both in classical and hierarchical planning, but while there is much work in classical planning, the techniques in hierarchical planning are less evolved. In this paper we summarize landmark techniques for HTN planning, discuss their limitations, and show how to use techniques from classical planning to find more landmarks in HTN planning than previously possible. On a widely used benchmark set, our approach finds 2.3 times the number of landmarks compared to the approach from the literature. We conduct some preliminary tests on landmark-based heuristics for HTN planning. Our empirical evaluation shows that the heuristics based on our new extraction method perform better than the one based on the extraction technique from the literature. However, all landmark-based heuristics are not competitive with recent heuristics in HTN planning.},\\n  note      = {<strong>Erratum:</strong> Corollary 1 incorrectly claims an NP-completeness result. This should be co-NP-complete, which is stated correctly in the AAAI 2021 version of this paper (also Corollary 1).},\\n  url_Paper = {https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf}\\n}\\n\\n\",\"author_short\":[\"Höller, D.\",\"Bercher, P.\"],\"key\":\"Hoeller2020Landmarks\",\"id\":\"Hoeller2020Landmarks\",\"bibbaseid\":\"hller-bercher-landmarkextractioninhtnplanning-2020\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":3,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]},{\"firstnames\":[\"Damien\"],\"propositions\":[],\"lastnames\":[\"Pellier\"],\"suffixes\":[]},{\"firstnames\":[\"Humbert\"],\"propositions\":[],\"lastnames\":[\"Fiorino\"],\"suffixes\":[]},{\"firstnames\":[\"Ron\"],\"propositions\":[],\"lastnames\":[\"Alford\"],\"suffixes\":[]}],\"title\":\"Hierarchical Planning in the IPC\",\"year\":\"2019\",\"booktitle\":\"Proceedings of the Workshop on the International Planning Competition\",\"abstract\":\"Over the last years, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is diverging and planners are somewhat hard to compare against each other. This is mostly caused by the fact that there is no standard set of benchmark domains, nor even a common description language for hierarchical planning problems. As a consequence, the available planners support a widely varying set of features and (almost) none of them can solve (or even parse) any problem developed for another planner. With this paper, we propose to create a new track for the IPC in which hierarchical planners will compete. This competition will result in a standardised description language, broader support for core features of that language among planners, a set of benchmark problems, a means to fairly and objectively compare HTN planners, and for new challenges for planners.\",\"url_paper\":\"https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf\",\"url_slides\":\"https://bercher.net/publications/2019/Behnke2019HTN-IPCSlides.pdf\",\"url_ipc-website\":\"http://ipc2020.hierarchical-task.net\",\"bibtex\":\"@Inproceedings{Behnke2019HTN-IPC,\\n   author          = {Gregor Behnke and Daniel H{\\\\\\\"o}ller and Pascal Bercher and Susanne Biundo and Damien Pellier and Humbert Fiorino and Ron Alford},\\n   title           = {Hierarchical Planning in the IPC},\\n   year            = {2019},\\n   booktitle       = {Proceedings of the Workshop on the International Planning Competition},\\n   abstract        = {Over the last years, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is diverging and planners are somewhat hard to compare against each other. This is mostly caused by the fact that there is no standard set of benchmark domains, nor even a common description language for hierarchical planning problems. As a consequence, the available planners support a widely varying set of features and (almost) none of them can solve (or even parse) any problem developed for another planner. With this paper, we propose to create a new track for the IPC in which hierarchical planners will compete. This competition will result in a standardised description language, broader support for core features of that language among planners, a set of benchmark problems, a means to fairly and objectively compare HTN planners, and for new challenges for planners.},\\n   url_Paper       = {https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf},\\n   url_Slides      = {https://bercher.net/publications/2019/Behnke2019HTN-IPCSlides.pdf},\\n   url_IPC-website = {http://ipc2020.hierarchical-task.net}\\n}\\n\\n\",\"author_short\":[\"Behnke, G.\",\"Höller, D.\",\"Bercher, P.\",\"Biundo, S.\",\"Pellier, D.\",\"Fiorino, H.\",\"Alford, R.\"],\"key\":\"Behnke2019HTN-IPC\",\"id\":\"Behnke2019HTN-IPC\",\"bibbaseid\":\"behnke-hller-bercher-biundo-pellier-fiorino-alford-hierarchicalplanningintheipc-2019\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf\",\" slides\":\"https://bercher.net/publications/2019/Behnke2019HTN-IPCSlides.pdf\",\" ipc-website\":\"http://ipc2020.hierarchical-task.net\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":9,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]},{\"firstnames\":[\"Humbert\"],\"propositions\":[],\"lastnames\":[\"Fiorino\"],\"suffixes\":[]},{\"firstnames\":[\"Damien\"],\"propositions\":[],\"lastnames\":[\"Pellier\"],\"suffixes\":[]},{\"firstnames\":[\"Ron\"],\"propositions\":[],\"lastnames\":[\"Alford\"],\"suffixes\":[]}],\"title\":\"HDDL – A Language to Describe Hierarchical Planning Problems\",\"year\":\"2019\",\"booktitle\":\"Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)\",\"pages\":\"6–14\",\"abstract\":\"The research in hierarchical planning has made considerable progress in the last few years. Many recent systems do not rely on hand-tailored advice anymore to find solutions, but are supposed to be domain-independent systems that come with sophisticated solving techniques. In principle, this development would make the comparison between systems easier (because the domains are not tailored to a single system anymore) and – much more important – also the integration into other systems, because the modeling process is less tedious (due to the lack of advice) and there is no (or less) commitment to a certain planning system the model is created for. However, these advantages are destroyed by the lack of a common input language and feature set supported by the different systems. In this paper, we propose an extension to PDDL, the description language used in non-hierarchical planning, to the needs of hierarchical planning systems. We restrict our language to a basic feature set shared by many recent systems, give an extension of PDDL's EBNF syntax definition, and discuss our extensions, especially with respect to planner-specific input languages from related work.\",\"url_paper\":\"https://bercher.net/publications/2019/Hoeller2019HDDL.pdf\",\"url_openreview\":\"https://openreview.net/forum?id=HJeT8HBbt4\",\"bibtex\":\"@Inproceedings{Hoeller2019HDDL,\\n   author    = {Daniel H{\\\\\\\"o}ller and Gregor Behnke and Pascal Bercher and Susanne Biundo and Humbert Fiorino and Damien Pellier and Ron Alford},\\n   title     = {HDDL -- A Language to Describe Hierarchical Planning Problems},\\n   year      = {2019},\\n   booktitle = {Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)},\\n   pages     = {6--14},\\n   abstract  = {The research in hierarchical planning has made considerable progress in the last few years. Many recent systems do not rely on hand-tailored advice anymore to find solutions, but are supposed to be domain-independent systems that come with sophisticated solving techniques. In principle, this development would make the comparison between systems easier (because the domains are not tailored to a single system anymore) and -- much more important -- also the integration into other systems, because the modeling process is less tedious (due to the lack of advice) and there is no (or less) commitment to a certain planning system the model is created for. However, these advantages are destroyed by the lack of a common input language and feature set supported by the different systems. In this paper, we propose an extension to PDDL, the description language used in non-hierarchical planning, to the needs of hierarchical planning systems. We restrict our language to a basic feature set shared by many recent systems, give an extension of PDDL's EBNF syntax definition, and discuss our extensions, especially with respect to planner-specific input languages from related work.},\\n   url_Paper = {https://bercher.net/publications/2019/Hoeller2019HDDL.pdf},\\n   url_openReview = {https://openreview.net/forum?id=HJeT8HBbt4}\\n}\\n\\n\",\"author_short\":[\"Höller, D.\",\"Behnke, G.\",\"Bercher, P.\",\"Biundo, S.\",\"Fiorino, H.\",\"Pellier, D.\",\"Alford, R.\"],\"key\":\"Hoeller2019HDDL\",\"id\":\"Hoeller2019HDDL\",\"bibbaseid\":\"hller-behnke-bercher-biundo-fiorino-pellier-alford-hddlalanguagetodescribehierarchicalplanningproblems-2019\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2019/Hoeller2019HDDL.pdf\",\" openreview\":\"https://openreview.net/forum?id=HJeT8HBbt4\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"title\":\"More Succinct Grounding of HTN Planning Problems – Preliminary Results\",\"year\":\"2019\",\"booktitle\":\"Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)\",\"pages\":\"40–48\",\"abstract\":\"Planning systems usually operate on grounded representations of the planning problems during search. Further, planners that use translations into other combinatorial problems also often perform their translations based on a grounded model. Planning models, however, are commonly defined in a lifted formalism. As such, one of the first preprocessing steps a planner performs is to generate a grounded representation. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings than the previously published method. We expect this decrease in size to lead to more efficient planners.\",\"url_paper\":\"https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf\",\"url_openreview\":\"https://openreview.net/forum?id=H1lgDHr-FE\",\"bibtex\":\"@Inproceedings{Behnke2019GroundingHTNs,\\n   author    = {Gregor Behnke and Daniel H{\\\\\\\"o}ller and Pascal Bercher and Susanne Biundo},\\n   title     = {More Succinct Grounding of HTN Planning Problems -- Preliminary Results},\\n   year      = {2019},\\n   booktitle = {Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)},\\n   pages     = {40--48},\\n   abstract  = {Planning systems usually operate on grounded representations of the planning problems during search. Further, planners that use translations into other combinatorial problems also often perform their translations based on a grounded model. Planning models, however, are commonly defined in a lifted formalism. As such, one of the first preprocessing steps a planner performs is to generate a grounded representation. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings than the previously published method. We expect this decrease in size to lead to more efficient planners.},\\n   url_Paper = {https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf},\\n   url_openReview = {https://openreview.net/forum?id=H1lgDHr-FE}\\n}\\n\\n\",\"author_short\":[\"Behnke, G.\",\"Höller, D.\",\"Bercher, P.\",\"Biundo, S.\"],\"key\":\"Behnke2019GroundingHTNs\",\"id\":\"Behnke2019GroundingHTNs\",\"bibbaseid\":\"behnke-hller-bercher-biundo-moresuccinctgroundingofhtnplanningproblemspreliminaryresults-2019\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf\",\" openreview\":\"https://openreview.net/forum?id=H1lgDHr-FE\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Schiller\"],\"firstnames\":[\"Marvin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Behnke\"],\"firstnames\":[\"Gregor\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kraus\"],\"firstnames\":[\"Matthias\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Dorna\"],\"firstnames\":[\"Michael\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Richter\"],\"firstnames\":[\"Felix\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Biundo\"],\"firstnames\":[\"Susanne\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Glimm\"],\"firstnames\":[\"Birte\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Minker\"],\"firstnames\":[\"Wolfgang\"],\"suffixes\":[]}],\"title\":\"Evaluating Knowledge-Based Assistance for DIY\",\"year\":\"2018\",\"pages\":\"925–930\",\"booktitle\":\"Proceedings of MCI Workshop Digital Companion\",\"abstract\":\"We report on the development of a companion system incorporating hierarchical planning, ontology-based knowledge modeling and multimodal cloud-based dialog. As an application scenario, we consider the domain of do-it-yourself (DIY) home improvement involving the use of power tools. To test and – if necessary – adjust the developed techniques, user studies are conducted throughout the development phase. We present fundamental considerations and open questions encountered when testing the implemented prototype with potential users and report first observations from a current study.\",\"url_paper\":\"https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf\",\"url_slides\":\"https://bercher.net/publications/2018/Schiller2018EvaluatingDIYSlides.pdf\",\"bibtex\":\"@Inproceedings{Schiller2018EvaluatingDIY,\\n   author     = {Schiller, Marvin and Behnke, Gregor and Pascal Bercher and Kraus, Matthias and Dorna, Michael and Richter, Felix and Biundo, Susanne and Glimm, Birte and Minker, Wolfgang},\\n   title      = {Evaluating Knowledge-Based Assistance for DIY},\\n   year       = {2018},\\n   pages      = {925--930},\\n   booktitle  = {Proceedings of MCI Workshop Digital Companion},\\n   abstract   = {We report on the development of a companion system incorporating hierarchical planning, ontology-based knowledge modeling and multimodal cloud-based dialog. As an application scenario, we consider the domain of do-it-yourself (DIY) home improvement involving the use of power tools. To test and -- if necessary -- adjust the developed techniques, user studies are conducted throughout the development phase. We present fundamental considerations and open questions encountered when testing the implemented prototype with potential users and report first observations from a current study.},\\n   url_Paper  = {https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf},\\n   url_Slides = {https://bercher.net/publications/2018/Schiller2018EvaluatingDIYSlides.pdf}\\n}\\n\\n\",\"author_short\":[\"Schiller, M.\",\"Behnke, G.\",\"Bercher, P.\",\"Kraus, M.\",\"Dorna, M.\",\"Richter, F.\",\"Biundo, S.\",\"Glimm, B.\",\"Minker, W.\"],\"key\":\"Schiller2018EvaluatingDIY\",\"id\":\"Schiller2018EvaluatingDIY\",\"bibbaseid\":\"schiller-behnke-bercher-kraus-dorna-richter-biundo-glimm-etal-evaluatingknowledgebasedassistancefordiy-2018\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf\",\" slides\":\"https://bercher.net/publications/2018/Schiller2018EvaluatingDIYSlides.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"title\":\"HTN Plan Repair Using Unmodified Planning Systems\",\"year\":\"2018\",\"pages\":\"26–30\",\"booktitle\":\"Proceedings of the First ICAPS Workshop on Hierarchical Planning (HPlan 2018)\",\"abstract\":\"To make planning feasible, planning models abstract from many details of the modeled system. When executing plans in the actual system, the model might be inaccurate in a critical point, and plan execution may fail. There are two options to handle this case: the previous solution can be modified to address the failure (plan repair), or the planning process can be re-started from the new situation (re-planning). In HTN planning, discarding the plan and generating a new one from the novel situation is not easily possible, because the HTN solution criteria make it necessary to take already executed actions into account. Therefore all approaches to repair plans in the literature are based on specialized algorithms. In this paper, we discuss the problem in detail and introduce a novel approach that makes it possible to use unchanged, off-the-shelf HTN planning systems to repair broken HTN plans. That way, no specialized solvers are needed.\",\"url_paper\":\"https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf\",\"bibtex\":\"@Inproceedings{Hoeller2018HTNRepair,\\n   author    = {Daniel Höller and Pascal Bercher and Gregor Behnke and Susanne Biundo},\\n   title     = {HTN Plan Repair Using Unmodified Planning Systems},\\n   year      = {2018},\\n   pages     = {26--30},\\n   booktitle = {Proceedings of the First ICAPS Workshop on Hierarchical Planning (HPlan 2018)},\\n   abstract  = {To make planning feasible, planning models abstract from many details of the modeled system. When executing plans in the actual system, the model might be inaccurate in a critical point, and plan execution may fail. There are two options to handle this case: the previous solution can be modified to address the failure (plan repair), or the planning process can be re-started from the new situation (re-planning). In HTN planning, discarding the plan and generating a new one from the novel situation is not easily possible, because the HTN solution criteria make it necessary to take already executed actions into account. Therefore all approaches to repair plans in the literature are based on specialized algorithms. In this paper, we discuss the problem in detail and introduce a novel approach that makes it possible to use unchanged, off-the-shelf HTN planning systems to repair broken HTN plans. That way, no specialized solvers are needed.},\\n   url_Paper = {https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf}\\n}\\n\\n\",\"author_short\":[\"Höller, D.\",\"Bercher, P.\",\"Behnke, G.\",\"Biundo, S.\"],\"key\":\"Hoeller2018HTNRepair\",\"id\":\"Hoeller2018HTNRepair\",\"bibbaseid\":\"hller-bercher-behnke-biundo-htnplanrepairusingunmodifiedplanningsystems-2018\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kraus\"],\"firstnames\":[\"Matthias\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Behnke\"],\"firstnames\":[\"Gregor\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schiller\"],\"firstnames\":[\"Marvin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Biundo\"],\"firstnames\":[\"Susanne\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Glimm\"],\"firstnames\":[\"Birte\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Minker\"],\"firstnames\":[\"Wolfgang\"],\"suffixes\":[]}],\"title\":\"A Multimodal Dialogue Framework for Cloud-Based Companion Systems\",\"year\":\"2018\",\"booktitle\":\"Proceedings of the 9th International Workshop on Spoken Dialog Systems Technology (IWSDS 2018)\",\"abstract\":\"Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario.\",\"url_paper\":\"https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf\",\"bibtex\":\"@Inproceedings{Kraus2018CompanionCloudDemo,\\n   author    = {Kraus, Matthias and Behnke, Gregor and Pascal Bercher and Schiller, Marvin and Biundo, Susanne and Glimm, Birte and Minker, Wolfgang},\\n   title     = {A Multimodal Dialogue Framework for Cloud-Based Companion Systems},\\n   year      = {2018},\\n   booktitle = {Proceedings of the 9th International Workshop on Spoken Dialog Systems Technology (IWSDS 2018)},\\n   abstract  = {Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario.},\\n   url_Paper = {https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf}\\n}\\n\\n\",\"author_short\":[\"Kraus, M.\",\"Behnke, G.\",\"Bercher, P.\",\"Schiller, M.\",\"Biundo, S.\",\"Glimm, B.\",\"Minker, W.\"],\"key\":\"Kraus2018CompanionCloudDemo\",\"id\":\"Kraus2018CompanionCloudDemo\",\"bibbaseid\":\"kraus-behnke-bercher-schiller-biundo-glimm-minker-amultimodaldialogueframeworkforcloudbasedcompanionsystems-2018\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Plan and Goal Recognition as HTN Planning\",\"year\":\"2018\",\"booktitle\":\"Proceedings of the AAAI 2018 Workshop on Plan, Activity, and Intent Recognition (PAIR 2018)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Höller\"],\"firstnames\":[\"Daniel\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Behnke\"],\"firstnames\":[\"Gregor\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Biundo\"],\"firstnames\":[\"Susanne\"],\"suffixes\":[]}],\"abstract\":\"Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario. Plan- and Goal Recognition (PGR) is the task of inferring the goals and plans of an agent based on its actions. Traditional approaches in PGR are based on a plan library including pairs of plans and corresponding goals. In recent years, the field successfully exploited the performance of planning systems for PGR. The main benefits are the presence of efficient solvers and well-established, compact formalisms for behavior representation. However, the expressivity of the STRIPS planning models used so far is limited, and models in PGR are often structured in a hierarchical way. We present the approach Plan and Goal Recognition as HTN Planning that combines the expressive but still compact grammar-like HTN representation with the advantage of using unmodified, off-the-shelf planning systems for PGR. Our evaluation shows that – using our approach – current planning systems are able to handle large models with thousands of possible goals, that the approach results in high recognition rates, and that it works even when the environment is partially observable, i.e., if the observer might miss observations.\",\"url_paper\":\"https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf\",\"bibtex\":\"@Inproceedings{Hoeller2018PlanRecognitionWorkshop,\\n   title     = {Plan and Goal Recognition as HTN Planning},\\n   year      = {2018},\\n   booktitle = {Proceedings of the AAAI 2018 Workshop on Plan, Activity, and Intent Recognition (PAIR 2018)},\\n   author    = {H{\\\\\\\"o}ller, Daniel and Pascal Bercher and Behnke, Gregor and Biundo, Susanne},\\n   abstract  = {Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario. Plan- and Goal Recognition (PGR) is the task of inferring the goals and plans of an agent based on its actions. Traditional approaches in PGR are based on a plan library including pairs of plans and corresponding goals. In recent years, the field successfully exploited the performance of planning systems for PGR. The main benefits are the presence of efficient solvers and well-established, compact formalisms for behavior representation. However, the expressivity of the STRIPS planning models used so far is limited, and models in PGR are often structured in a hierarchical way. We present the approach Plan and Goal Recognition as HTN Planning that combines the expressive but still compact grammar-like HTN representation with the advantage of using unmodified, off-the-shelf planning systems for PGR. Our evaluation shows that -- using our approach -- current planning systems are able to handle large models with thousands of possible goals, that the approach results in high recognition rates, and that it works even when the environment is partially observable, i.e., if the observer might miss observations.},\\n   url_Paper = {https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf}\\n}\\n\\n\",\"author_short\":[\"Höller, D.\",\"Bercher, P.\",\"Behnke, G.\",\"Biundo, S.\"],\"key\":\"Hoeller2018PlanRecognitionWorkshop\",\"id\":\"Hoeller2018PlanRecognitionWorkshop\",\"bibbaseid\":\"hller-bercher-behnke-biundo-planandgoalrecognitionashtnplanning-2018\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Finding User-friendly Linearizations of Partially Ordered Plans\",\"author\":[{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Felix\"],\"propositions\":[],\"lastnames\":[\"Richter\"],\"suffixes\":[]},{\"firstnames\":[\"Marvin\"],\"propositions\":[],\"lastnames\":[\"Schiller\"],\"suffixes\":[]},{\"firstnames\":[\"Thomas\"],\"propositions\":[],\"lastnames\":[\"Geier\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"booktitle\":\"28th PuK Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2014)\",\"year\":\"2014\",\"abstract\":\"Planning models usually do not discriminate between different possible execution orders of the actions within a plan, as long as the sequence remains executable. As the formal planning problem is an abstraction of the real world, it can very well occur that one linearization is more favorable than the other for reasons not captured by the planning model — in particular if actions are performed by a human. Post-hoc linearization of plans is thus a way to improve the quality of a plan enactment. The cost of this transformation decouples from the planning process, and it allows to incorporate knowledge that cannot be expressed within the limitations of a certain planning formalism. In this paper we discuss the idea of finding useful plan linearizations within the formalism of hybrid planning (although the basic ideas are applicable to a broader class of planning models). We propose three concrete models for plan linearization, discuss their ramifications using the application domain of automated user-assistance, and sketch out ways how to empirically validate the assumptions underlying these user-centric models.\",\"url_paper\":\"https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf\",\"url_slides\":\"https://bercher.net/publications/2014/Hoeller2014PlanLinearizationSlides.pdf\",\"bibtex\":\"@InProceedings{Hoeller2014PlanLinearization,\\n  Title      = {Finding User-friendly Linearizations of Partially Ordered Plans},\\n  Author     = {Daniel H{\\\\\\\"o}ller and Pascal Bercher and Felix Richter and Marvin Schiller and Thomas Geier and Susanne Biundo},\\n  Booktitle  = {28th {PuK} Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' ({PuK} 2014)},\\n  Year       = {2014},\\n  abstract   = {Planning models usually do not discriminate between different possible execution orders of the actions within a plan, as long as the sequence remains executable. As the formal planning problem is an abstraction of the real world, it can very well occur that one linearization is more favorable than the other for reasons not captured by the planning model --- in particular if actions are performed by a human. Post-hoc linearization of plans is thus a way to improve the quality of a plan enactment. The cost of this transformation decouples from the planning process, and it allows to incorporate knowledge that cannot be expressed within the limitations of a certain planning formalism. In this paper we discuss the idea of finding useful plan linearizations within the formalism of hybrid planning (although the basic ideas are applicable to a broader class of planning models). We propose three concrete models for plan linearization, discuss their ramifications using the application domain of automated user-assistance, and sketch out ways how to empirically validate the assumptions underlying these user-centric models.},\\n  url_Paper  = {https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf},\\n  url_Slides = {https://bercher.net/publications/2014/Hoeller2014PlanLinearizationSlides.pdf}\\n}\\n\\n\",\"author_short\":[\"Höller, D.\",\"Bercher, P.\",\"Richter, F.\",\"Schiller, M.\",\"Geier, T.\",\"Biundo, S.\"],\"key\":\"Hoeller2014PlanLinearization\",\"id\":\"Hoeller2014PlanLinearization\",\"bibbaseid\":\"hller-bercher-richter-schiller-geier-biundo-findinguserfriendlylinearizationsofpartiallyorderedplans-2014\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf\",\" slides\":\"https://bercher.net/publications/2014/Hoeller2014PlanLinearizationSlides.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Introducing Hierarchy to Non-Hierarchical Planning Models: A Case Study for Behavioral Adversary Models\",\"author\":[{\"firstnames\":[\"Louisa\"],\"propositions\":[],\"lastnames\":[\"Pragst\"],\"suffixes\":[]},{\"firstnames\":[\"Felix\"],\"propositions\":[],\"lastnames\":[\"Richter\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schattenberg\"],\"firstnames\":[\"Bernd\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"booktitle\":\"28th PuK Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2014)\",\"year\":\"2014\",\"abstract\":\"Hierarchical planning approaches are often pursued when it comes to a real-world application scenario, because they allow for incorporating additional expert knowledge into the domain. That knowledge can be used both for improving plan explanations and for reducing the explored search space. In case a non-hierarchical planning model is already available, for instance because a bottom-up modeling approach was used, one has to concern oneself with the question of how to introduce a hierarchy. This paper discusses the points to consider when adding a hierarchy to a non-hierarchical planning model using the example of the BAMS Cyber Security domain.\",\"url_paper\":\"https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf\",\"bibtex\":\"@InProceedings{Pragst2014CyberSecurityDomain,\\n  Title      = {Introducing Hierarchy to Non-Hierarchical Planning Models: A Case Study for Behavioral Adversary Models},\\n  Author     = {Louisa Pragst and Felix Richter and Pascal Bercher and Schattenberg, Bernd and Susanne Biundo},\\n  Booktitle  = {28th {PuK} Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2014)},\\n  Year       = {2014},\\n  abstract   = {Hierarchical planning approaches are often pursued when it comes to a real-world application scenario, because they allow for incorporating additional expert knowledge into the domain. That knowledge can be used both for improving plan explanations and for reducing the explored search space. In case a non-hierarchical planning model is already available, for instance because a bottom-up modeling approach was used, one has to concern oneself with the question of how to introduce a hierarchy. This paper discusses the points to consider when adding a hierarchy to a non-hierarchical planning model using the example of the BAMS Cyber Security domain.},\\n  url_Paper  = {https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf}\\n}\\n\\n\\n\",\"author_short\":[\"Pragst, L.\",\"Richter, F.\",\"Bercher, P.\",\"Schattenberg, B.\",\"Biundo, S.\"],\"key\":\"Pragst2014CyberSecurityDomain\",\"id\":\"Pragst2014CyberSecurityDomain\",\"bibbaseid\":\"pragst-richter-bercher-schattenberg-biundo-introducinghierarchytononhierarchicalplanningmodelsacasestudyforbehavioraladversarymodels-2014\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"title\":\"Encoding Partial Plans for Heuristic Search\",\"booktitle\":\"Proceedings of the 4th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2013)\",\"year\":\"2013\",\"pages\":\"11–15\",\"abstract\":\"We propose a technique that allows any planning system that searches in the space of partial plans to make use of heuristics from the literature which are based on search in the space of states. The technique uses a problem encoding that reduces the problem of finding a heuristic value for a partial plan to finding a heuristic value for a state: It encodes a partial plan into a new planning problem, s.t. solutions for the new problem correspond to solutions reachable from the partial plan. Evaluating the goal distance of the partial plan then corresponds to evaluating the goal distance of the initial state in the new planning problem.\",\"url_paper\":\"https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf\",\"url_slides\":\"https://bercher.net/publications/2013/Bercher2013EncodingPlansSlides.pdf\",\"bibtex\":\"@InProceedings{Bercher13EncodingPlans,\\n  author    = {Pascal Bercher and Susanne Biundo},\\n  title     = {Encoding Partial Plans for Heuristic Search},\\n  booktitle = {Proceedings of the 4th Workshop on Knowledge Engineering for Planning and Scheduling ({KEPS} 2013)},\\n  year      = {2013},\\n  pages     = {11--15},\\n  abstract  = {We propose a technique that allows any planning system that searches in the space of partial plans to make use of heuristics from the literature which are based on search in the space of states. The technique uses a problem encoding that reduces the problem of finding a heuristic value for a partial plan to finding a heuristic value for a state: It encodes a partial plan into a new planning problem, s.t. solutions for the new problem correspond to solutions reachable from the partial plan. Evaluating the goal distance of the partial plan then corresponds to evaluating the goal distance of the initial state in the new planning problem.},\\n  url_Paper  = {https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf},\\n  url_Slides = {https://bercher.net/publications/2013/Bercher2013EncodingPlansSlides.pdf}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\",\"Biundo, S.\"],\"key\":\"Bercher13EncodingPlans\",\"id\":\"Bercher13EncodingPlans\",\"bibbaseid\":\"bercher-biundo-encodingpartialplansforheuristicsearch-2013\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf\",\" slides\":\"https://bercher.net/publications/2013/Bercher2013EncodingPlansSlides.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":2,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Integrating Ontologies and Planning for Cognitive Systems\",\"author\":[{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]},{\"firstnames\":[\"Birte\"],\"propositions\":[],\"lastnames\":[\"Glimm\"],\"suffixes\":[]},{\"firstnames\":[\"Denis\"],\"propositions\":[],\"lastnames\":[\"Ponomaryov\"],\"suffixes\":[]},{\"firstnames\":[\"Marvin\"],\"propositions\":[],\"lastnames\":[\"Schiller\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 28th International Workshop on Description Logics (DL 2015)\",\"year\":\"2015\",\"publisher\":\"CEUR Workshop Proceedings\",\"abstract\":\"We present an approach for integrating ontological reasoning and planning within cognitive systems. Patterns and mechanisms that suitably link planning domains and interrelated knowledge in an ontology are devised. In particular, this enables the use of (standard) ontology reasoning for extending a (hierarchical) planning domain. Furthermore, explanations of plans generated by a cognitive system benefit from additional explanations relying on background knowledge in the ontology and inference. An application of this approach in the domain of fitness training is presented.\",\"url_paper\":\"https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf\",\"bibtex\":\"@InProceedings{Behnke2015OntologiesAndPlanning,\\n  Title      = {Integrating Ontologies and Planning for Cognitive Systems},\\n  Author     = {Gregor Behnke and Pascal Bercher and Susanne Biundo and Birte Glimm and Denis Ponomaryov and Marvin Schiller},\\n  Booktitle  = {Proceedings of the 28th International Workshop on Description Logics ({DL} 2015)},\\n  Year       = {2015},\\n  Publisher  = {CEUR Workshop Proceedings},\\n  abstract   = {We present an approach for integrating ontological reasoning and planning within cognitive systems. Patterns and mechanisms that suitably link planning domains and interrelated knowledge in an ontology are devised. In particular, this enables the use of (standard) ontology reasoning for extending a (hierarchical) planning domain. Furthermore, explanations of plans generated by a cognitive system benefit from additional explanations relying on background knowledge in the ontology and inference. An application of this approach in the domain of fitness training is presented.},\\n  url_Paper  = {https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf}\\n}\\n\\n\",\"author_short\":[\"Behnke, G.\",\"Bercher, P.\",\"Biundo, S.\",\"Glimm, B.\",\"Ponomaryov, D.\",\"Schiller, M.\"],\"key\":\"Behnke2015OntologiesAndPlanning\",\"id\":\"Behnke2015OntologiesAndPlanning\",\"bibbaseid\":\"behnke-bercher-biundo-glimm-ponomaryov-schiller-integratingontologiesandplanningforcognitivesystems-2015\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Fabian\"],\"propositions\":[],\"lastnames\":[\"Ginter\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"title\":\"Search Strategies for Partial-Order Causal-Link Planning with Preferences\",\"year\":\"2013\",\"pages\":\"29–40\",\"booktitle\":\"27th PuK Workshop ''Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2013)\",\"abstract\":\"This paper studies how to solve classical planning problems with preferences by means of a partial-order causal-link (POCL) planning algorithm. Preferences are given by soft goals – optional goals which increase a plan's benefit if satisfied at the end of a plan. Thus, we aim at finding a plan with the best <i>net-benefit</i>, which is the difference of the achieved preferences' benefit minus the cost of all actions in the plan that achieves them. While many approaches compile soft goals away, we study how they can be addressed natively by a POCL planning system. We propose novel search and flaw selection strategies for that problem class and evaluate them empirically.\",\"url_paper\":\"https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf\",\"url_slides\":\"https://bercher.net/publications/2013/Bercher13POCLSoftGoalsSlides.pdf\",\"bibtex\":\"@Inproceedings{Bercher13POCLSoftGoals,\\n   author    = {Pascal Bercher and Fabian Ginter and Susanne Biundo},\\n   title     = {Search Strategies for Partial-Order Causal-Link Planning with Preferences},\\n   year      = {2013},\\n   pages     = {29--40},\\n   booktitle = {27th PuK Workshop ''Planen, Scheduling und Konfigurieren, Entwerfen'' ({PuK} 2013)},\\n   abstract  = {This paper studies how to solve classical planning problems with preferences by means of a partial-order causal-link (POCL) planning algorithm. Preferences are given by soft goals -- optional goals which increase a plan's benefit if satisfied at the end of a plan. Thus, we aim at finding a plan with the best \\\\textit{net-benefit}, which is the difference of the achieved preferences' benefit minus the cost of all actions in the plan that achieves them. While many approaches compile soft goals away, we study how they can be addressed natively by a POCL planning system. We propose novel search and flaw selection strategies for that problem class and evaluate them empirically.},\\n   url_Paper  = {https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf},\\n   url_Slides = {https://bercher.net/publications/2013/Bercher13POCLSoftGoalsSlides.pdf}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\",\"Ginter, F.\",\"Biundo, S.\"],\"key\":\"Bercher13POCLSoftGoals\",\"id\":\"Bercher13POCLSoftGoals\",\"bibbaseid\":\"bercher-ginter-biundo-searchstrategiesforpartialordercausallinkplanningwithpreferences-2013\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf\",\" slides\":\"https://bercher.net/publications/2013/Bercher13POCLSoftGoalsSlides.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Mohamed\"],\"propositions\":[],\"lastnames\":[\"Elkawkagy\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Bernd\"],\"propositions\":[],\"lastnames\":[\"Schattenberg\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"title\":\"Landmark-Aware Strategies for Hierarchical Planning\",\"booktitle\":\"Workshop on Heuristics for Domain-independent Planning (HDIP 2011)\",\"year\":\"2011\",\"pages\":\"73–79\",\"abstract\":\"In hierarchical planning, landmarks are abstract tasks the decomposition of which are mandatory when trying to find a solution to a given problem. In this paper, we present novel domain-independent strategies that exploit landmark information to speed up the planning process. The empirical evaluation shows that the landmark-aware strategies outperform established search strategies for hierarchical planning.\",\"url_paper\":\"https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf\",\"url_slides\":\"https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategiesSlides.pdf\",\"bibtex\":\"@InProceedings{Elkawkagy2011LandmarkStrategies,\\n  author     = {Mohamed Elkawkagy and Pascal Bercher and Bernd Schattenberg and Susanne Biundo},\\n  title      = {Landmark-Aware Strategies for Hierarchical Planning},\\n  booktitle  = {Workshop on Heuristics for Domain-independent Planning ({HDIP} 2011)},\\n  year       = {2011},\\n  pages      = {73--79},\\n  abstract   = {In hierarchical planning, landmarks are abstract tasks the decomposition of which are mandatory when trying to find a solution to a given problem. In this paper, we present novel domain-independent strategies that exploit landmark information to speed up the planning process. The empirical evaluation shows that the landmark-aware strategies outperform established search strategies for hierarchical planning.},\\n  url_Paper  = {https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf},\\n  url_Slides = {https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategiesSlides.pdf}\\n}\\n\\n\",\"author_short\":[\"Elkawkagy, M.\",\"Bercher, P.\",\"Schattenberg, B.\",\"Biundo, S.\"],\"key\":\"Elkawkagy2011LandmarkStrategies\",\"id\":\"Elkawkagy2011LandmarkStrategies\",\"bibbaseid\":\"elkawkagy-bercher-schattenberg-biundo-landmarkawarestrategiesforhierarchicalplanning-2011\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf\",\" slides\":\"https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategiesSlides.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"title\":\"Hybrid Planning with Preferences Using a Heuristic for Partially Ordered Plans\",\"booktitle\":\"26th PuK Workshop \\\"Planen, Scheduling und Konfigurieren, Entwerfen\\\" (PuK 2011)\",\"year\":\"2011\",\"abstract\":\"This paper is concerned with the problem of finding preferred plans in a hybrid planning setting, which is the fusion of classical and hierarchical planning. Here, we define preferences as weighted soft goals – facts one would like to see satisfied in a goal state, but which do not have to hold necessarily. We present a branch-and-bound algorithm that allows a broad variety of search strategies, as opposed to the majority of existing planning systems which usually perform progression. The algorithm prunes task networks from the search space which will never lead to a better solution than the best solution found so far. To this end, we developed an admissible heuristic, based on a combination of the h^2 heuristic and delete relaxation, which takes as input a task network and estimates the best quality of any solution that can be developed from it.\",\"url_paper\":\"https://bercher.net/publications/2011/Bercher2011Preferences.pdf\",\"url_slides\":\"https://bercher.net/publications/2011/Bercher2011PreferencesSlides.pdf\",\"bibtex\":\"@inproceedings{Bercher2011Preferences,\\n  author    = {Pascal Bercher and Susanne Biundo},\\n  title     = {Hybrid Planning with Preferences Using a Heuristic for Partially Ordered Plans},\\n  booktitle = {26th {PuK} Workshop \\\"Planen, Scheduling und Konfigurieren, Entwerfen\\\" ({PuK} 2011)},\\n  year      = {2011},\\n  abstract  = {This paper is concerned with the problem of finding preferred plans in a hybrid planning setting, which is the fusion of classical and hierarchical planning. Here, we define preferences as weighted soft goals -- facts one would like to see satisfied in a goal state, but which do not have to hold necessarily. We present a branch-and-bound algorithm that allows a broad variety of search strategies, as opposed to the majority of existing planning systems which usually perform progression. The algorithm prunes task networks from the search space which will never lead to a better solution than the best solution found so far. To this end, we developed an admissible heuristic, based on a combination of the h^2 heuristic and delete relaxation, which takes as input a task network and estimates the best quality of any solution that can be developed from it.},\\n  url_Paper  = {https://bercher.net/publications/2011/Bercher2011Preferences.pdf},\\n  url_Slides = {https://bercher.net/publications/2011/Bercher2011PreferencesSlides.pdf}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\",\"Biundo, S.\"],\"key\":\"Bercher2011Preferences\",\"id\":\"Bercher2011Preferences\",\"bibbaseid\":\"bercher-biundo-hybridplanningwithpreferencesusingaheuristicforpartiallyorderedplans-2011\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2011/Bercher2011Preferences.pdf\",\" slides\":\"https://bercher.net/publications/2011/Bercher2011PreferencesSlides.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Mohamed\"],\"propositions\":[],\"lastnames\":[\"Elkawkagy\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Bernd\"],\"propositions\":[],\"lastnames\":[\"Schattenberg\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"title\":\"Exploiting Landmarks for Hybrid Planning\",\"booktitle\":\"25th PuK Workshop \\\"Planen, Scheduling und Konfigurieren, Entwerfen\\\" (PuK 2010)\",\"year\":\"2010\",\"abstract\":\"Very recently, the well-known concept of landmarks has been adapted from the classical planning setting to hierarchical planning. It was shown how a pre-processing step that extracts local landmarks from a planning domain and problem description can be used in order to prune the search space that is to be explored before the actual search is performed. This pruning technique eliminates all branches of the task decomposition tree, for which can be proven that they will never lead to a solution. In this paper, we investigate this technique in more detail and extend it by introducing search strategies which use these local landmarks in order to guide the planning process more effectively towards a solution. Our empirical evaluation shows that the pre-processing step dramatically improves performance because dead ends can be detected much earlier than without pruning and that our search strategies using the local landmarks outperform many other possible search strategies.\",\"url_paper\":\"https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf\",\"bibtex\":\"@InProceedings{Elkawkagy2010LandmarksInHybrid,\\n  author    = {Mohamed Elkawkagy and Pascal Bercher and Bernd Schattenberg and Susanne Biundo},\\n  title     = {Exploiting Landmarks for Hybrid Planning},\\n  booktitle = {25th {PuK} Workshop \\\"Planen, Scheduling und Konfigurieren, Entwerfen\\\" ({PuK} 2010)},\\n  year      = {2010},\\n  abstract  = {Very recently, the well-known concept of landmarks has been adapted from the classical planning setting to hierarchical planning. It was shown how a pre-processing step that extracts local landmarks from a planning domain and problem description can be used in order to prune the search space that is to be explored before the actual search is performed. This pruning technique eliminates all branches of the task decomposition tree, for which can be proven that they will never lead to a solution. In this paper, we investigate this technique in more detail and extend it by introducing search strategies which use these local landmarks in order to guide the planning process more effectively towards a solution. Our empirical evaluation shows that the pre-processing step dramatically improves performance because dead ends can be detected much earlier than without pruning and that our search strategies using the local landmarks outperform many other possible search strategies.},\\n  url_Paper = {https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf}\\n}\\n\",\"author_short\":[\"Elkawkagy, M.\",\"Bercher, P.\",\"Schattenberg, B.\",\"Biundo, S.\"],\"key\":\"Elkawkagy2010LandmarksInHybrid\",\"id\":\"Elkawkagy2010LandmarksInHybrid\",\"bibbaseid\":\"elkawkagy-bercher-schattenberg-biundo-exploitinglandmarksforhybridplanning-2010\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\"downloads\":1,\"html\":\"\"}],\n      metadata: {\"owner\":\"bercher, p\",\"authorlinks\":{\"bercher, p\":\"https://www.bercher.net/my-publications/journal-articles\"}},\n      ownerID: \"qRXT9gMNhQE98wFSS\"\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and restoring');\n    bb$ = $.noConflict(true);\n    $ = site$;\n  } else {\n    bb$ = $;\n  }\n  </script>\n\n  <script src=\"//bibbase.org/js/bibbase.min.js\"\n          type=\"text/javascript\">\n  </script>\n\n  <script type=\"text/javascript\"\n          src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\n  </script>\n  <script type=\"text/x-mathjax-config\">\n    MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\\\(','\\\\)']]},\n                        skipTags: [\"body\"],\n                        processClass: \"bibbase_paper\"});\n  </script>\n\n  <style>\n  @media print {\n    .dontprint {\n        display: none !important;\n    }\n\n  .bibbase_group {\n    background-color: #E0E0E0;\n    font-style: italic;\n    font-size: larger;\n    text-shadow: 0px 0px 3px #FFFFFF;\n    border-radius: 4px 4px 4px 4px;\n    -moz-border-radius: 4px 4px 4px 4px;\n    -webkit-border-radius: 4px;\n    padding: 5px 40px 5px;\n    margin-top: 10px;\n    margin-bottom: 5px;\n    cursor: pointer;\n  }\n\n  .bibbase_paper {\n    margin-bottom: 5px;\n  }\n\n  }\n  </style>\n\n  \n  <div style=\"float: right; margin-right: 10px; margin-top: 10px; text-align: right; font-size: 12px\">\n    generated by\n    <a href=\"//bibbase.org\"\n       onclick=\"trackOutboundLink('bibbase', 'logo clicked', window.location.href, '//bibbase.org'); return false;\">\n      <img src=\"//bibbase.org/img/logo.svg\"\n           style=\"vertical-align: middle; margin-left: 3px; height: 16px;\"/\n           alt=\"bibbase.org\"\n           title=\"BibBase – The easiest way to maintain your publications page.\"\n        ></a>\n    \n  </div>\n  \n\n  <div id=\"bibbase_header\" class=\"dontprint\" style=\"display: none\">\n\n    <ul class=\"nav nav-pills\" style=\"margin: 0px;\">\n\n      <li class=\"dropdown\" id=\"groupby_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\">\n          Group by\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li class=\"groupby year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"workshops.bib\" href=\"data:text/bibtex;base64,@InProceedings{Olz2024TOILPHeuristic,
  author    = {Conny Olz and Alexander Lodemann and Pascal Bercher},
  booktitle = {Proceedings of the 7th ICAPS Workshop on Hierarchical Planning (HPlan 2024)},
  title     = {An ILP Heuristic for Total-Order HTN Planning},
  year      = {2024},
  abstract  = {Heuristic Search is still the most successful approach to hierarchical planning, both for finding any and for finding an optimal solution. Yet, there exist only a very small handful heuristics for HTN planning -- so there is still huge potential for improvements. It is especially noteworthy that there does not exist a single heuristic that's tailored towards special cases. In this work we propose the very first specialized HTN heuristic, tailored towards totally ordered HTN problems. Our heuristic builds on an existing NP-complete and admissible delete-and-ordering relaxation ILP heuristic but partially incorporates ordering constraints while reducing the number of ILP constraints. It exploits inferred preconditions and effects of compound tasks and is also admissible. Our current heuristic proves to be more efficient than the one we build on, though it still performs worse than other existing (admissible) heuristics.}
}



@InProceedings{Yuan2024HTNSearchSpaceAnalysis,
  author    = {Lijia Yuan and Pascal Bercher},
  booktitle = {Proceedings of the 7th ICAPS Workshop on Hierarchical Planning (HPlan 2024)},
  title     = {Towards Search Node-Specific Special-Case Heuristics for HTN Planning -- An Empirical Analysis of Search Space Properties under Progression},
  year      = {2024},
  abstract  = {In hierarchical task network (HTN) planning, heuristic search is highly effective, but currently, there are only a few available heuristics and they are pre-selected for use. However, during the progression-based search, many search nodes exhibit specific properties, e.g., they may become totally ordered or acyclic allowing for the application of specialized heuristics. In these search nodes, we conducted an experimental evaluation, employing reachability analysis, to examine the special cases encountered during the search. Measuring how often these special cases occur informs us of which special cases specialized heuristics are most promising.}
}



@InProceedings{Behnke2024LearningTrack,
  author    = {Gregor Behnke and Pascal Bercher},
  booktitle = {Proceedings of the Workshop on the International Planning Competition},
  title     = {Envisioning a Domain Learning Track for the IPC},
  year      = {2024},
  abstract  = {ICKEPS (International Competition on Knowledge Engineering for Planning and Scheduling) was created to make aware of the importance of domain engineering for planning and scheduling, but in past editions humans competed with the help of planning tools, thus encouraging the development of those tools (where humans were an integral part). We propose an IPC Domain Learning track, where learning algorithms would compete completely on their own, creating valid domain models without further use of input other than the constraints (like input plans) they base upon. We believe that this might help to establish some standard in the field of domain learning, such as a standard benchmark set, standard inputs (possibly an input language), and metrics to evaluate the learned domains against.},
  url_Paper  = {https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf},
}



@InProceedings{Lin2024VSPlugin,
  author    = {Songtuan Lin and Mohammad Yousefi and Pascal Bercher},
  booktitle = {ICAPS 2024 Demonstrations},
  title     = {A Visual Studio Code Extension for Automatically Repairing Planning Domains},
  year      = {2024},
  abstract  = {We demonstrate a Visual Studio Code extension which aims at providing modeling assistance for modeling planning domains in PDDL. More specifically, the extension can identify potential flaws in a domain and propose respective corrections by taking as input a set of counter-example plans, which are known to be valid but actually contradict the domain. Those input plans shall be provided by the user. The flaws are then identified and corrected by making changes to the domain so as to turn those plans into solutions, i.e., the changes are regarded as potential corrections to the domain. Currently, the extension only supports corrections that add predicates to or remove predicates from actions' preconditions and effects.}
}



@InProceedings{Lin2023VerificationComplexity,
  author     = {Songtuan Lin and Conny Olz and Malte Helmert and Pascal Bercher},
  title      = {On the Computational Complexity of Plan Verification, (Bounded) Plan-Optimality Verification, and Bounded Plan Existence},
  booktitle  = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},
  pages      = {35--43},
  year       = {2023},
  note      = {<strong>Erratum:</strong> Corollary 1 and Proposition 5 incorrectly claimed NEXPTIME and co-NEXPTIME membership, respectively. Both should be one exponential harder, which is stated correctly in the AAAI 2024 version of this paper (same Corollary and Proposition).},
  abstract   = {In this paper we study the computational complexity of several reasoning tasks centered at the bounded plan existence problem. We do this for standard classical planning and hierarchical task network (HTN) planning and each for the grounded and the lifted representation. Whereas bounded plan existence complexity is known for classical planning, it has not been studied yet for HTN planning. For plan verification, results were available for both formalisms except the lifted representation of HTN planning. We will thus present the lower bound and the upper bound of the complexity of plan verification in lifted HTN planning and provide novel insights into its grounded counterpart, in which we show that verification is not just NP-complete in the general case, but already for a severely restricted special case. Finally, we show the computational complexity concerning the optimality of a given plan, i.e., answering the question whether such a plan is optimal, and discuss its connection to the bounded plan existence problem.},
  url_Paper  = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf},
  url_Slides = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExSlides.pdf},
  url_Poster = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExPoster.pdf}
}



@InProceedings{Olz2023bTOLookAhead,
  author    = {Conny Olz and Pascal Bercher},
  title     = {A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements},
  booktitle = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},
  note      = {This paper was simultaneously accepted at SoCS and hence only published there.},
  year      = {2023},
  abstract  = {In HTN planning the choice of decomposition methods used to refine compound tasks is key to finding a valid plan. Based on inferred preconditions and effects of compound tasks, we propose a look-ahead technique for search-based total-order HTN planning that can identify inevitable refinement choices and in some cases dead-ends. The former occurs when all but one decomposition method for some task are proven infeasible for turning a task network into a solution, whereas the latter occurs when all methods are proven infeasible. We show how it can be used for pruning, as well as to strengthen heuristics and to reduce the search branching factor. An empirical evaluation proves its potential as incorporating it improves an existing HTN planner such that it is the currently best performing one in terms of coverage and IPC score.},
  url_Paper = {https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf}
}



@InProceedings{Wu2022HTNLinearization,
  author       = {Ying Xian Wu and Songtuan Lin and Gregor Behnke and Pascal Bercher},
  booktitle    = {33rd {PuK} Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' ({PuK} 2022)},
  title        = {Finding Solution Preserving Linearizations For Partially Ordered Hierarchical Planning Problems},
  year         = {2022},
  abstract     = {Solving partially ordered hierarchical planning problems is more computationally expensive compared to solving totally ordered ones. Therefore, automatically transforming partially ordered problem domains into totally ordered ones, such that the totally ordered problem still retains at least one solution, would be a desired capability as it would reduce complexity and thus make it easier for planning systems to solve the problem. This is a complex endeavour, because even creating all possible linearizations of all methods in the original domain does not guarantee that solutions are preserved. It also allows the planner to use algorithms and heuristics specialised for the totally ordered case to solve the transformed problem. In this paper, we propose an algorithm for converting partially ordered problems into totally ordered ones and give criterion for when this is possible. We test our techniques on the partially-ordered track of the bench-mark set of the IPC 2020 and solve both the linearized and the original partially-ordered problems using state-of-the-art planning systems. We find that in the majority of problems across a variety of domains, the linearized problem remains solvable, and can always be solved faster than the without our proposed pre-processing technique.},
  url_Paper    = {https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf},
  url_Slides   = {https://bercher.net/publications/2022/Wu2022HTNLinearizationSlides.pdf},
  url_Workshop = {http://www.member.uni-oldenburg.de/juergen.sauer/PuK/PuK2022/index.html}
}



@InProceedings{Lin2022RepairAsDiagnosis,
  author     = {Songtuan Lin and Alban Grastien and Pascal Bercher},
  booktitle  = {Proceedings of the 33rd International Workshop on Principles of Diagnosis (DX 2022)},
  title      = {Planning Domain Repair as a Diagnosis Problem},
  year       = {2022},
  abstract   = {Techniques for diagnosis have been used in many applications. We explore the connection between diagnosis and AI planning in this paper and apply the diagnosis algorithm to repair a flawed planning domain. In particular, the scenario we are concerned with is that we are given a plan which is supposed to be a solution to a planning problem, but it is actually not due to some flaws in the planning domain, and we want to repair the domain to turn the plan into a solution. For this, we will first frame this problem as a diagnosis problem and then solve it via using diagnosis algorithms.},
  url_Paper  = {https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf},
  url_Slides = {https://bercher.net/publications/2022/Lin2022RepairAsDiagnosisSlides.pdf},
}



@InProceedings{Lin2022SATviaSOGs,
  author           = {Songtuan Lin and Gregor Behnke and Pascal Bercher},
  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},
  title            = {Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving},
  year             = {2022},
  pages            = {24--28},
  abstract         = {The research on the plan verification problem has drawn increasing attention in the last few years. It can serve as an approach for validating a planning domain by viewing an input plan as a test case which is supposed to be a solution to a planning problem in the domain which is to be validated. In this paper, we study the plan verification problem in the context of Hierarchical Task Network (HTN) planning. Concretely, we will develop an SAT-based approach via exploiting the data structures solution order graphs and path decomposition trees employed by the state-of-the-art SAT-based HTN planner which transforms an HTN plan verification problem into an SAT formula. Additionally, for the purpose of completeness, we will also reimplement the old SAT-based plan verifier within an outdated planning system called PANDA-3 and integrate it into the new version called PANDA-pi.},
  url_Paper        = {https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf},
  url_Poster       = {https://bercher.net/publications/2022/Lin2022SATbasedVerificationPoster.pdf},
  url_presentation = {https://youtu.be/DbDTuY7dOxM}
}



@InProceedings{Lin2022CYKParsing,
  author           = {Songtuan Lin and Gregor Behnke and Simona Ondrčková and Roman Barták and Pascal Bercher},
  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},
  title            = {On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm},
  year             = {2022},
  pages            = {52--58},
  abstract         = {In this paper, we consider the plan verification problem for totally ordered (TO) HTN planning. The problem is proved to be solvable in polynomial time by recognizing its connection to the membership decision problem for context-free grammars. The current state-of-the-art TO plan verifier solves the problem by a blind search approach in order to deal with some state constraints and henceforth results in several overheads. However, many existing TOHTN planning benchmarks do not have these constraints. Hence, we ignore them in the paper and develop a TOHTN plan verification approach which avoids those overheads in the state-of-the-art TO verifier via extending the CYK algorithm.},
  url_Paper        = {https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf},
  url_Poster       = {https://bercher.net/publications/2022/Lin2022HTNCYKParsingPoster.pdf},
  url_presentation = {https://youtu.be/AJqmbG9Bs2M}
}



@InProceedings{Olz2022POPrecsAndEffects,
  author           = {Conny Olz and Pascal Bercher},
  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},
  title            = {On the Efficient Inference of Preconditions and Effects of Compound Tasks in Partially Ordered HTN Planning Domains},
  year             = {2022},
  Pages            = {47--51},
  abstract         = {Recently, preconditions and effects of compound tasks based on their possible refinements have been introduced together with an efficient inference procedure to compute a subset of them. However, they were restricted to total-order HTN planning domains. In this paper we generalize the definitions and algorithm to the scenario of partially ordered domains.},
  url_Paper        = {https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf},
  url_presentation = {https://youtu.be/QsQsXBYu0yI}
}



@InProceedings{Johnson2022aSATPruning,
  author           = {Christopher Johnson and Pascal Bercher and Charles Gretton},
  booktitle        = {Proceedings of the 14th Workshop on Heuristics and Search for Domain-independent Planning (HSDIP 2022)},
  title            = {A Study of the Power of Heuristic-based Pruning via SAT Planning},
  year             = {2022},
  abstract         = {Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information.
We make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.},
  note             = {This paper has also been accepted at KEPS 2022.},
  url_Paper        = {https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf},
  url_presentation = {https://www.youtube.com/watch?v=HFntrSAyszU},
  url_openReview   = {https://openreview.net/forum?id=c2-QShxGZt}
}



@InProceedings{Johnson2022bSATPruning,
  author    = {Christopher Johnson and Pascal Bercher and Charles Gretton},
  booktitle = {Proceedings of the 11th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2022)},
  title     = {A Study of the Power of Heuristic-based Pruning via SAT Planning},
  year      = {2022},
  abstract  = {Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information.
We make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.},
  note      = {This paper has also been accepted at HSDIP 2022, the linked openReview reviews are from HSDIP.},
  url_Paper     = {https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf},
  url_openReview = {https://openreview.net/forum?id=c2-QShxGZt}
}



@InProceedings{Olz2021ComprehendHTNModels,
  author    = {Conny Olz and Eva Wierzba and Pascal Bercher and Felix Lindner},
  title     = {Towards Improving the Comprehension of HTN Planning Domains by Means of Preconditions and Effects of Compound Tasks},
  booktitle = {Proceedings of the 10th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2021)},
  year      = {2021},
  abstract  = {Hierarchical Task Network (HTN) planning is a paradigm that offers engineers a formalism for modeling planning domains in terms of possible decompositions of compound tasks. A complete decomposition of a compound task results in totally or partially ordered primitive tasks, i.e., plans in the classical sense. Existing specification languages for HTN domains, such as HDDL, do only allow the assertion of preconditions and effects for primitive tasks but not for compound ones. Recently, a method for inferring preconditions and effects for compound tasks was proposed. It was hypothesized that inferred preconditions and effects can aid knowledge engineers in understanding HTN domain specifications and in predicting the meaning of particular compound tasks. We describe preliminary results from a study that supports this hypothesis and discuss future research directions.},
  url_Paper = {https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf},
  url_Slides = {https://bercher.net/publications/2021/Olz2021ComprehendHTNModelsSlides.pdf},
  url_video-of-paper-presentation = {https://www.youtube.com/watch?v=jLcTjrtNhaY&list=PLd_hcmfMPvAhDzHla0ZR6dNsiKBlwsx6K&index=11}
}



@InProceedings{Chen2021FlexibleFONDHTNs,
  author    = {Dillon Chen and Pascal Bercher},
  title     = {The Complexity of Flexible FOND HTN Planning},
  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},
  year      = {2021},
  pages     = {62--70},
  abstract  = {Hierarchical Task Network (HTN) planning is an expressive planning formalism that has often been advocated as a first choice to address real-world problems. Yet only a few extensions exist that can deal with the many challenges encountered in the real world. One of them is the capability to express uncertainty. Recently, a new HTN formalism for Fully Observable Nondeterministic (FOND) problems was proposed and studied theoretically. In this paper, we lay out limitations of that formalism and propose an alternative definition, which addresses and resolves such` limitations. We conduct a complexity study of an alternative, more flexible formalism and provide tight complexity bounds for most of the investigated special cases of the problem.},
  url_Paper = {https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf}
}



@InProceedings{Hoeller2021VerificationViaPlanning,
  author    = {Daniel H\"oller and Julia Wichlacz and Pascal Bercher and Gregor Behnke},
  title     = {Compiling HTN Plan Verification Problems to HTN Planning Problems},
  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},
  year      = {2021},
  pages     = {8--15},
  abstract  = {Plan Verification is the task of deciding whether a sequence of actions is a solution for a given planning problem. In HTN planning, the task is computationally expensive and may be up to NP-hard. However, there are situations where it needs to be solved, e.g. when a solution is post-processed, in systems using approximation, or just to validate whether a planning system works correctly (e.g. for debugging or in a competition). In the literature, there are verification systems based on translations to propositional logic and based on techniques from parsing. Here we present a third approach and translate plan verification problems to HTN planning problems. These can be solved using any HTN planning system. We test our solver on the set of solutions from the 2020 International Planning Competition. Our evaluation is yet preliminary, because it does not include all systems from the literature, but it already shows that our approach performs well compared with the included systems.},
  url_Paper = {https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf}
}



@InProceedings{Kiam2021TemporalHTNsChallenge,
  author    = {Jane Jean Kiam and Pascal Bercher and Axel Schulte},
  title     = {Temporal Hierarchical Task Network Planning with Nested Multi-Vehicle Routing Problems -- A Challenge to be Resolved},
  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},
  year      = {2021},
  pages     = {71--75},
  abstract  = {This paper focuses on presenting a complex real-world planning application based on a rescue mission. While temporal hierarchical planning seems to be a promising solution to such class of problems, given its ability to consider experts' knowledge and dissect the search space, many major challenges of complex real-world planning problems are not addressed yet formally, i.e. recursive decomposition to achieve a goal state, optimization of utility functions defined for abstract tasks, and optimal allocation of tasks to multiple actors.},
  url_Paper = {https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf}
}



@InProceedings{Lin2021CorrectingHTNModels,
  author    = {Songtuan Lin and Pascal Bercher},
  title     = {On the Computational Complexity of Correcting HTN Domain Models},
  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},
  year      = {2021},
  pages     = {35--43},
  abstract  = {Incorporating user requests into planning processes is a key concept in developing flexible planning technologies. Such systems may be required to change its planning model to adapt to certain user requests. In this paper, we assume a user provides a non-solution plan to a system and asks it to change the planning model so that the plan becomes a solution. We study the computational complexity of deciding whether such changes exist in the context of Hierarchical Task Network (HTN) planning. We prove that the problem is NP-complete in general independent of what or how many changes are allowed. We also identify several conditions which make the problem tractable when they are satisfied.},
  url_Paper = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf},
  url_Slides = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexitySlides.pdf},
  url_Poster = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexityPoster.pdf}
}



@InProceedings{Bartak2021TOHTNVerification,
  author    = {Roman Bart{\'a}k and Simona Ondr\v{c}kov\'{a} and Gregor Behnke and Pascal Bercher},
  title     = {On the Verification of Totally-Ordered HTN Plans},
  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},
  year      = {2021},
  pages     = {44--48},
  abstract  = {Verifying HTN plans is an intractable problem with two existing approaches to solve the problem. One technique is based on compilation to SAT. Another method is using parsing, and it is currently the fastest technique for verifying HTN plans. In this paper, we propose an extension of the parsing-based approach to verify totally-ordered HTN plans. This problem is known to be tractable, and we show theoretically and empirically that the modified parsing approach achieves better performance than the currently fastest HTN plan verifier when applied to totally-ordered HTN plans.},
  url_Paper = {https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf}
}



@InProceedings{Hoeller2020Landmarks,
  author    = {Daniel Höller and Pascal Bercher},
  title     = {Landmark Extraction in HTN Planning},
  booktitle = {Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)},
  year      = {2020},
  pages     = {9--17},
  abstract  = {Landmarks are a valuable source of information for heuristics in planning. They have been used both in classical and hierarchical planning, but while there is much work in classical planning, the techniques in hierarchical planning are less evolved. In this paper we summarize landmark techniques for HTN planning, discuss their limitations, and show how to use techniques from classical planning to find more landmarks in HTN planning than previously possible. On a widely used benchmark set, our approach finds 2.3 times the number of landmarks compared to the approach from the literature. We conduct some preliminary tests on landmark-based heuristics for HTN planning. Our empirical evaluation shows that the heuristics based on our new extraction method perform better than the one based on the extraction technique from the literature. However, all landmark-based heuristics are not competitive with recent heuristics in HTN planning.},
  note      = {<strong>Erratum:</strong> Corollary 1 incorrectly claims an NP-completeness result. This should be co-NP-complete, which is stated correctly in the AAAI 2021 version of this paper (also Corollary 1).},
  url_Paper = {https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf}
}



@Inproceedings{Behnke2019HTN-IPC,
   author          = {Gregor Behnke and Daniel H{\"o}ller and Pascal Bercher and Susanne Biundo and Damien Pellier and Humbert Fiorino and Ron Alford},
   title           = {Hierarchical Planning in the IPC},
   year            = {2019},
   booktitle       = {Proceedings of the Workshop on the International Planning Competition},
   abstract        = {Over the last years, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is diverging and planners are somewhat hard to compare against each other. This is mostly caused by the fact that there is no standard set of benchmark domains, nor even a common description language for hierarchical planning problems. As a consequence, the available planners support a widely varying set of features and (almost) none of them can solve (or even parse) any problem developed for another planner. With this paper, we propose to create a new track for the IPC in which hierarchical planners will compete. This competition will result in a standardised description language, broader support for core features of that language among planners, a set of benchmark problems, a means to fairly and objectively compare HTN planners, and for new challenges for planners.},
   url_Paper       = {https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf},
   url_Slides      = {https://bercher.net/publications/2019/Behnke2019HTN-IPCSlides.pdf},
   url_IPC-website = {http://ipc2020.hierarchical-task.net}
}



@Inproceedings{Hoeller2019HDDL,
   author    = {Daniel H{\"o}ller and Gregor Behnke and Pascal Bercher and Susanne Biundo and Humbert Fiorino and Damien Pellier and Ron Alford},
   title     = {HDDL -- A Language to Describe Hierarchical Planning Problems},
   year      = {2019},
   booktitle = {Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)},
   pages     = {6--14},
   abstract  = {The research in hierarchical planning has made considerable progress in the last few years. Many recent systems do not rely on hand-tailored advice anymore to find solutions, but are supposed to be domain-independent systems that come with sophisticated solving techniques. In principle, this development would make the comparison between systems easier (because the domains are not tailored to a single system anymore) and -- much more important -- also the integration into other systems, because the modeling process is less tedious (due to the lack of advice) and there is no (or less) commitment to a certain planning system the model is created for. However, these advantages are destroyed by the lack of a common input language and feature set supported by the different systems. In this paper, we propose an extension to PDDL, the description language used in non-hierarchical planning, to the needs of hierarchical planning systems. We restrict our language to a basic feature set shared by many recent systems, give an extension of PDDL's EBNF syntax definition, and discuss our extensions, especially with respect to planner-specific input languages from related work.},
   url_Paper = {https://bercher.net/publications/2019/Hoeller2019HDDL.pdf},
   url_openReview = {https://openreview.net/forum?id=HJeT8HBbt4}
}



@Inproceedings{Behnke2019GroundingHTNs,
   author    = {Gregor Behnke and Daniel H{\"o}ller and Pascal Bercher and Susanne Biundo},
   title     = {More Succinct Grounding of HTN Planning Problems -- Preliminary Results},
   year      = {2019},
   booktitle = {Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)},
   pages     = {40--48},
   abstract  = {Planning systems usually operate on grounded representations of the planning problems during search. Further, planners that use translations into other combinatorial problems also often perform their translations based on a grounded model. Planning models, however, are commonly defined in a lifted formalism. As such, one of the first preprocessing steps a planner performs is to generate a grounded representation. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings than the previously published method. We expect this decrease in size to lead to more efficient planners.},
   url_Paper = {https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf},
   url_openReview = {https://openreview.net/forum?id=H1lgDHr-FE}
}



@Inproceedings{Schiller2018EvaluatingDIY,
   author     = {Schiller, Marvin and Behnke, Gregor and Pascal Bercher and Kraus, Matthias and Dorna, Michael and Richter, Felix and Biundo, Susanne and Glimm, Birte and Minker, Wolfgang},
   title      = {Evaluating Knowledge-Based Assistance for DIY},
   year       = {2018},
   pages      = {925--930},
   booktitle  = {Proceedings of MCI Workshop Digital Companion},
   abstract   = {We report on the development of a companion system incorporating hierarchical planning, ontology-based knowledge modeling and multimodal cloud-based dialog. As an application scenario, we consider the domain of do-it-yourself (DIY) home improvement involving the use of power tools. To test and -- if necessary -- adjust the developed techniques, user studies are conducted throughout the development phase. We present fundamental considerations and open questions encountered when testing the implemented prototype with potential users and report first observations from a current study.},
   url_Paper  = {https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf},
   url_Slides = {https://bercher.net/publications/2018/Schiller2018EvaluatingDIYSlides.pdf}
}



@Inproceedings{Hoeller2018HTNRepair,
   author    = {Daniel Höller and Pascal Bercher and Gregor Behnke and Susanne Biundo},
   title     = {HTN Plan Repair Using Unmodified Planning Systems},
   year      = {2018},
   pages     = {26--30},
   booktitle = {Proceedings of the First ICAPS Workshop on Hierarchical Planning (HPlan 2018)},
   abstract  = {To make planning feasible, planning models abstract from many details of the modeled system. When executing plans in the actual system, the model might be inaccurate in a critical point, and plan execution may fail. There are two options to handle this case: the previous solution can be modified to address the failure (plan repair), or the planning process can be re-started from the new situation (re-planning). In HTN planning, discarding the plan and generating a new one from the novel situation is not easily possible, because the HTN solution criteria make it necessary to take already executed actions into account. Therefore all approaches to repair plans in the literature are based on specialized algorithms. In this paper, we discuss the problem in detail and introduce a novel approach that makes it possible to use unchanged, off-the-shelf HTN planning systems to repair broken HTN plans. That way, no specialized solvers are needed.},
   url_Paper = {https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf}
}



@Inproceedings{Kraus2018CompanionCloudDemo,
   author    = {Kraus, Matthias and Behnke, Gregor and Pascal Bercher and Schiller, Marvin and Biundo, Susanne and Glimm, Birte and Minker, Wolfgang},
   title     = {A Multimodal Dialogue Framework for Cloud-Based Companion Systems},
   year      = {2018},
   booktitle = {Proceedings of the 9th International Workshop on Spoken Dialog Systems Technology (IWSDS 2018)},
   abstract  = {Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario.},
   url_Paper = {https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf}
}



@Inproceedings{Hoeller2018PlanRecognitionWorkshop,
   title     = {Plan and Goal Recognition as HTN Planning},
   year      = {2018},
   booktitle = {Proceedings of the AAAI 2018 Workshop on Plan, Activity, and Intent Recognition (PAIR 2018)},
   author    = {H{\"o}ller, Daniel and Pascal Bercher and Behnke, Gregor and Biundo, Susanne},
   abstract  = {Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario. Plan- and Goal Recognition (PGR) is the task of inferring the goals and plans of an agent based on its actions. Traditional approaches in PGR are based on a plan library including pairs of plans and corresponding goals. In recent years, the field successfully exploited the performance of planning systems for PGR. The main benefits are the presence of efficient solvers and well-established, compact formalisms for behavior representation. However, the expressivity of the STRIPS planning models used so far is limited, and models in PGR are often structured in a hierarchical way. We present the approach Plan and Goal Recognition as HTN Planning that combines the expressive but still compact grammar-like HTN representation with the advantage of using unmodified, off-the-shelf planning systems for PGR. Our evaluation shows that -- using our approach -- current planning systems are able to handle large models with thousands of possible goals, that the approach results in high recognition rates, and that it works even when the environment is partially observable, i.e., if the observer might miss observations.},
   url_Paper = {https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf}
}



@InProceedings{Hoeller2014PlanLinearization,
  Title      = {Finding User-friendly Linearizations of Partially Ordered Plans},
  Author     = {Daniel H{\"o}ller and Pascal Bercher and Felix Richter and Marvin Schiller and Thomas Geier and Susanne Biundo},
  Booktitle  = {28th {PuK} Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' ({PuK} 2014)},
  Year       = {2014},
  abstract   = {Planning models usually do not discriminate between different possible execution orders of the actions within a plan, as long as the sequence remains executable. As the formal planning problem is an abstraction of the real world, it can very well occur that one linearization is more favorable than the other for reasons not captured by the planning model --- in particular if actions are performed by a human. Post-hoc linearization of plans is thus a way to improve the quality of a plan enactment. The cost of this transformation decouples from the planning process, and it allows to incorporate knowledge that cannot be expressed within the limitations of a certain planning formalism. In this paper we discuss the idea of finding useful plan linearizations within the formalism of hybrid planning (although the basic ideas are applicable to a broader class of planning models). We propose three concrete models for plan linearization, discuss their ramifications using the application domain of automated user-assistance, and sketch out ways how to empirically validate the assumptions underlying these user-centric models.},
  url_Paper  = {https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf},
  url_Slides = {https://bercher.net/publications/2014/Hoeller2014PlanLinearizationSlides.pdf}
}



@InProceedings{Pragst2014CyberSecurityDomain,
  Title      = {Introducing Hierarchy to Non-Hierarchical Planning Models: A Case Study for Behavioral Adversary Models},
  Author     = {Louisa Pragst and Felix Richter and Pascal Bercher and Schattenberg, Bernd and Susanne Biundo},
  Booktitle  = {28th {PuK} Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2014)},
  Year       = {2014},
  abstract   = {Hierarchical planning approaches are often pursued when it comes to a real-world application scenario, because they allow for incorporating additional expert knowledge into the domain. That knowledge can be used both for improving plan explanations and for reducing the explored search space. In case a non-hierarchical planning model is already available, for instance because a bottom-up modeling approach was used, one has to concern oneself with the question of how to introduce a hierarchy. This paper discusses the points to consider when adding a hierarchy to a non-hierarchical planning model using the example of the BAMS Cyber Security domain.},
  url_Paper  = {https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf}
}




@InProceedings{Bercher13EncodingPlans,
  author    = {Pascal Bercher and Susanne Biundo},
  title     = {Encoding Partial Plans for Heuristic Search},
  booktitle = {Proceedings of the 4th Workshop on Knowledge Engineering for Planning and Scheduling ({KEPS} 2013)},
  year      = {2013},
  pages     = {11--15},
  abstract  = {We propose a technique that allows any planning system that searches in the space of partial plans to make use of heuristics from the literature which are based on search in the space of states. The technique uses a problem encoding that reduces the problem of finding a heuristic value for a partial plan to finding a heuristic value for a state: It encodes a partial plan into a new planning problem, s.t. solutions for the new problem correspond to solutions reachable from the partial plan. Evaluating the goal distance of the partial plan then corresponds to evaluating the goal distance of the initial state in the new planning problem.},
  url_Paper  = {https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf},
  url_Slides = {https://bercher.net/publications/2013/Bercher2013EncodingPlansSlides.pdf}
}



@InProceedings{Behnke2015OntologiesAndPlanning,
  Title      = {Integrating Ontologies and Planning for Cognitive Systems},
  Author     = {Gregor Behnke and Pascal Bercher and Susanne Biundo and Birte Glimm and Denis Ponomaryov and Marvin Schiller},
  Booktitle  = {Proceedings of the 28th International Workshop on Description Logics ({DL} 2015)},
  Year       = {2015},
  Publisher  = {CEUR Workshop Proceedings},
  abstract   = {We present an approach for integrating ontological reasoning and planning within cognitive systems. Patterns and mechanisms that suitably link planning domains and interrelated knowledge in an ontology are devised. In particular, this enables the use of (standard) ontology reasoning for extending a (hierarchical) planning domain. Furthermore, explanations of plans generated by a cognitive system benefit from additional explanations relying on background knowledge in the ontology and inference. An application of this approach in the domain of fitness training is presented.},
  url_Paper  = {https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf}
}



@Inproceedings{Bercher13POCLSoftGoals,
   author    = {Pascal Bercher and Fabian Ginter and Susanne Biundo},
   title     = {Search Strategies for Partial-Order Causal-Link Planning with Preferences},
   year      = {2013},
   pages     = {29--40},
   booktitle = {27th PuK Workshop ''Planen, Scheduling und Konfigurieren, Entwerfen'' ({PuK} 2013)},
   abstract  = {This paper studies how to solve classical planning problems with preferences by means of a partial-order causal-link (POCL) planning algorithm. Preferences are given by soft goals -- optional goals which increase a plan's benefit if satisfied at the end of a plan. Thus, we aim at finding a plan with the best \textit{net-benefit}, which is the difference of the achieved preferences' benefit minus the cost of all actions in the plan that achieves them. While many approaches compile soft goals away, we study how they can be addressed natively by a POCL planning system. We propose novel search and flaw selection strategies for that problem class and evaluate them empirically.},
   url_Paper  = {https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf},
   url_Slides = {https://bercher.net/publications/2013/Bercher13POCLSoftGoalsSlides.pdf}
}



@InProceedings{Elkawkagy2011LandmarkStrategies,
  author     = {Mohamed Elkawkagy and Pascal Bercher and Bernd Schattenberg and Susanne Biundo},
  title      = {Landmark-Aware Strategies for Hierarchical Planning},
  booktitle  = {Workshop on Heuristics for Domain-independent Planning ({HDIP} 2011)},
  year       = {2011},
  pages      = {73--79},
  abstract   = {In hierarchical planning, landmarks are abstract tasks the decomposition of which are mandatory when trying to find a solution to a given problem. In this paper, we present novel domain-independent strategies that exploit landmark information to speed up the planning process. The empirical evaluation shows that the landmark-aware strategies outperform established search strategies for hierarchical planning.},
  url_Paper  = {https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf},
  url_Slides = {https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategiesSlides.pdf}
}



@inproceedings{Bercher2011Preferences,
  author    = {Pascal Bercher and Susanne Biundo},
  title     = {Hybrid Planning with Preferences Using a Heuristic for Partially Ordered Plans},
  booktitle = {26th {PuK} Workshop "Planen, Scheduling und Konfigurieren, Entwerfen" ({PuK} 2011)},
  year      = {2011},
  abstract  = {This paper is concerned with the problem of finding preferred plans in a hybrid planning setting, which is the fusion of classical and hierarchical planning. Here, we define preferences as weighted soft goals -- facts one would like to see satisfied in a goal state, but which do not have to hold necessarily. We present a branch-and-bound algorithm that allows a broad variety of search strategies, as opposed to the majority of existing planning systems which usually perform progression. The algorithm prunes task networks from the search space which will never lead to a better solution than the best solution found so far. To this end, we developed an admissible heuristic, based on a combination of the h^2 heuristic and delete relaxation, which takes as input a task network and estimates the best quality of any solution that can be developed from it.},
  url_Paper  = {https://bercher.net/publications/2011/Bercher2011Preferences.pdf},
  url_Slides = {https://bercher.net/publications/2011/Bercher2011PreferencesSlides.pdf}
}



@InProceedings{Elkawkagy2010LandmarksInHybrid,
  author    = {Mohamed Elkawkagy and Pascal Bercher and Bernd Schattenberg and Susanne Biundo},
  title     = {Exploiting Landmarks for Hybrid Planning},
  booktitle = {25th {PuK} Workshop "Planen, Scheduling und Konfigurieren, Entwerfen" ({PuK} 2010)},
  year      = {2010},
  abstract  = {Very recently, the well-known concept of landmarks has been adapted from the classical planning setting to hierarchical planning. It was shown how a pre-processing step that extracts local landmarks from a planning domain and problem description can be used in order to prune the search space that is to be explored before the actual search is performed. This pruning technique eliminates all branches of the task decomposition tree, for which can be proven that they will never lead to a solution. In this paper, we investigate this technique in more detail and extend it by introducing search strategies which use these local landmarks in order to guide the planning process more effectively towards a solution. Our empirical evaluation shows that the pre-processing step dramatically improves performance because dead ends can be detected much earlier than without pruning and that our search strategies using the local landmarks outperform many other possible search strategies.},
  url_Paper = {https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf}
}
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Yet, there exist only a very small handful heuristics for HTN planning -- so there is still huge potential for improvements. It is especially noteworthy that there does not exist a single heuristic that&#x27;s tailored towards special cases. In this work we propose the very first specialized HTN heuristic, tailored towards totally ordered HTN problems. Our heuristic builds on an existing NP-complete and admissible delete-and-ordering relaxation ILP heuristic but partially incorporates ordering constraints while reducing the number of ILP constraints. It exploits inferred preconditions and effects of compound tasks and is also admissible. Our current heuristic proves to be more efficient than the one we build on, though it still performs worse than other existing (admissible) heuristics.}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Heuristic Search is still the most successful approach to hierarchical planning, both for finding any and for finding an optimal solution. Yet, there exist only a very small handful heuristics for HTN planning – so there is still huge potential for improvements. It is especially noteworthy that there does not exist a single heuristic that's tailored towards special cases. In this work we propose the very first specialized HTN heuristic, tailored towards totally ordered HTN problems. Our heuristic builds on an existing NP-complete and admissible delete-and-ordering relaxation ILP heuristic but partially incorporates ordering constraints while reducing the number of ILP constraints. It exploits inferred preconditions and effects of compound tasks and is also admissible. Our current heuristic proves to be more efficient than the one we build on, though it still performs worse than other existing (admissible) heuristics.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yuan-bercher-towardssearchnodespecificspecialcaseheuristicsforhtnplanninganempiricalanalysisofsearchspacepropertiesunderprogression-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Towards Search Node-Specific Special-Case Heuristics for HTN Planning – An Empirical Analysis of Search Space Properties under Progression.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Lijia Yuan;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 7th ICAPS Workshop on Hierarchical Planning (HPlan 2024)</i>,  2024. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yuan-bercher-towardssearchnodespecificspecialcaseheuristicsforhtnplanninganempiricalanalysisofsearchspacepropertiesunderprogression-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yuan-bercher-towardssearchnodespecificspecialcaseheuristicsforhtnplanninganempiricalanalysisofsearchspacepropertiesunderprogression-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Yuan2024HTNSearchSpaceAnalysis,\n  author    = {Lijia Yuan and Pascal Bercher},\n  booktitle = {Proceedings of the 7th ICAPS Workshop on Hierarchical Planning (HPlan 2024)},\n  title     = {Towards Search Node-Specific Special-Case Heuristics for HTN Planning -- An Empirical Analysis of Search Space Properties under Progression},\n  year      = {2024},\n  abstract  = {In hierarchical task network (HTN) planning, heuristic search is highly effective, but currently, there are only a few available heuristics and they are pre-selected for use. However, during the progression-based search, many search nodes exhibit specific properties, e.g., they may become totally ordered or acyclic allowing for the application of specialized heuristics. In these search nodes, we conducted an experimental evaluation, employing reachability analysis, to examine the special cases encountered during the search. Measuring how often these special cases occur informs us of which special cases specialized heuristics are most promising.}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In hierarchical task network (HTN) planning, heuristic search is highly effective, but currently, there are only a few available heuristics and they are pre-selected for use. However, during the progression-based search, many search nodes exhibit specific properties, e.g., they may become totally ordered or acyclic allowing for the application of specialized heuristics. In these search nodes, we conducted an experimental evaluation, employing reachability analysis, to examine the special cases encountered during the search. Measuring how often these special cases occur informs us of which special cases specialized heuristics are most promising.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"behnke-bercher-envisioningadomainlearningtrackfortheipc-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'behnke-bercher-envisioningadomainlearningtrackfortheipc-2024', 'https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf', event);\">\n    Envisioning a Domain Learning Track for the IPC.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Gregor Behnke;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Workshop on the International Planning Competition</i>,  2024. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf\"\n     onclick=\"log_download('behnke-bercher-envisioningadomainlearningtrackfortheipc-2024', 'https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Envisioning a Domain Learning Track for the IPC [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/behnke-bercher-envisioningadomainlearningtrackfortheipc-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('behnke-bercher-envisioningadomainlearningtrackfortheipc-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Behnke2024LearningTrack,\n  author    = {Gregor Behnke and Pascal Bercher},\n  booktitle = {Proceedings of the Workshop on the International Planning Competition},\n  title     = {Envisioning a Domain Learning Track for the IPC},\n  year      = {2024},\n  abstract  = {ICKEPS (International Competition on Knowledge Engineering for Planning and Scheduling) was created to make aware of the importance of domain engineering for planning and scheduling, but in past editions humans competed with the help of planning tools, thus encouraging the development of those tools (where humans were an integral part). We propose an IPC Domain Learning track, where learning algorithms would compete completely on their own, creating valid domain models without further use of input other than the constraints (like input plans) they base upon. We believe that this might help to establish some standard in the field of domain learning, such as a standard benchmark set, standard inputs (possibly an input language), and metrics to evaluate the learned domains against.},\n  url_Paper  = {https://bercher.net/publications/2024/Behnke2024LearningTrack.pdf},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  ICKEPS (International Competition on Knowledge Engineering for Planning and Scheduling) was created to make aware of the importance of domain engineering for planning and scheduling, but in past editions humans competed with the help of planning tools, thus encouraging the development of those tools (where humans were an integral part). We propose an IPC Domain Learning track, where learning algorithms would compete completely on their own, creating valid domain models without further use of input other than the constraints (like input plans) they base upon. We believe that this might help to establish some standard in the field of domain learning, such as a standard benchmark set, standard inputs (possibly an input language), and metrics to evaluate the learned domains against.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lin-yousefi-bercher-avisualstudiocodeextensionforautomaticallyrepairingplanningdomains-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Visual Studio Code Extension for Automatically Repairing Planning Domains.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Songtuan Lin;  Mohammad Yousefi;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>ICAPS 2024 Demonstrations</i>,  2024. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lin-yousefi-bercher-avisualstudiocodeextensionforautomaticallyrepairingplanningdomains-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lin-yousefi-bercher-avisualstudiocodeextensionforautomaticallyrepairingplanningdomains-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Lin2024VSPlugin,\n  author    = {Songtuan Lin and Mohammad Yousefi and Pascal Bercher},\n  booktitle = {ICAPS 2024 Demonstrations},\n  title     = {A Visual Studio Code Extension for Automatically Repairing Planning Domains},\n  year      = {2024},\n  abstract  = {We demonstrate a Visual Studio Code extension which aims at providing modeling assistance for modeling planning domains in PDDL. More specifically, the extension can identify potential flaws in a domain and propose respective corrections by taking as input a set of counter-example plans, which are known to be valid but actually contradict the domain. Those input plans shall be provided by the user. The flaws are then identified and corrected by making changes to the domain so as to turn those plans into solutions, i.e., the changes are regarded as potential corrections to the domain. Currently, the extension only supports corrections that add predicates to or remove predicates from actions&#x27; preconditions and effects.}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We demonstrate a Visual Studio Code extension which aims at providing modeling assistance for modeling planning domains in PDDL. More specifically, the extension can identify potential flaws in a domain and propose respective corrections by taking as input a set of counter-example plans, which are known to be valid but actually contradict the domain. Those input plans shall be provided by the user. The flaws are then identified and corrected by making changes to the domain so as to turn those plans into solutions, i.e., the changes are regarded as potential corrections to the domain. Currently, the extension only supports corrections that add predicates to or remove predicates from actions' preconditions and effects.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2023\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2023')\"\n      onkeypress=\"toggleGroup('group_2023')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2023</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"lin-olz-helmert-bercher-onthecomputationalcomplexityofplanverificationboundedplanoptimalityverificationandboundedplanexistence-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lin-olz-helmert-bercher-onthecomputationalcomplexityofplanverificationboundedplanoptimalityverificationandboundedplanexistence-2023', 'https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf', event);\">\n    On the Computational Complexity of Plan Verification, (Bounded) Plan-Optimality Verification, and Bounded Plan Existence.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Songtuan Lin;  Conny Olz;  Malte Helmert;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)</i>, pages 35–43,  2023. \n  <span class=\"note\"><strong>Erratum:</strong> Corollary 1 and Proposition 5 incorrectly claimed NEXPTIME and co-NEXPTIME membership, respectively. Both should be one exponential harder, which is stated correctly in the AAAI 2024 version of this paper (same Corollary and Proposition).</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf\"\n     onclick=\"log_download('lin-olz-helmert-bercher-onthecomputationalcomplexityofplanverificationboundedplanoptimalityverificationandboundedplanexistence-2023', 'https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Computational Complexity of Plan Verification, (Bounded) Plan-Optimality Verification, and Bounded Plan Existence [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExSlides.pdf\"\n     onclick=\"log_download('lin-olz-helmert-bercher-onthecomputationalcomplexityofplanverificationboundedplanoptimalityverificationandboundedplanexistence-2023', 'https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Computational Complexity of Plan Verification, (Bounded) Plan-Optimality Verification, and Bounded Plan Existence [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExPoster.pdf\"\n     onclick=\"log_download('lin-olz-helmert-bercher-onthecomputationalcomplexityofplanverificationboundedplanoptimalityverificationandboundedplanexistence-2023', 'https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExPoster.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Computational Complexity of Plan Verification, (Bounded) Plan-Optimality Verification, and Bounded Plan Existence [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lin-olz-helmert-bercher-onthecomputationalcomplexityofplanverificationboundedplanoptimalityverificationandboundedplanexistence-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lin-olz-helmert-bercher-onthecomputationalcomplexityofplanverificationboundedplanoptimalityverificationandboundedplanexistence-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Lin2023VerificationComplexity,\n  author     = {Songtuan Lin and Conny Olz and Malte Helmert and Pascal Bercher},\n  title      = {On the Computational Complexity of Plan Verification, (Bounded) Plan-Optimality Verification, and Bounded Plan Existence},\n  booktitle  = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},\n  pages      = {35--43},\n  year       = {2023},\n  note      = {&lt;strong&gt;Erratum:&lt;/strong&gt; Corollary 1 and Proposition 5 incorrectly claimed NEXPTIME and co-NEXPTIME membership, respectively. Both should be one exponential harder, which is stated correctly in the AAAI 2024 version of this paper (same Corollary and Proposition).},\n  abstract   = {In this paper we study the computational complexity of several reasoning tasks centered at the bounded plan existence problem. We do this for standard classical planning and hierarchical task network (HTN) planning and each for the grounded and the lifted representation. Whereas bounded plan existence complexity is known for classical planning, it has not been studied yet for HTN planning. For plan verification, results were available for both formalisms except the lifted representation of HTN planning. We will thus present the lower bound and the upper bound of the complexity of plan verification in lifted HTN planning and provide novel insights into its grounded counterpart, in which we show that verification is not just NP-complete in the general case, but already for a severely restricted special case. Finally, we show the computational complexity concerning the optimality of a given plan, i.e., answering the question whether such a plan is optimal, and discuss its connection to the bounded plan existence problem.},\n  url_Paper  = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanEx.pdf},\n  url_Slides = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExSlides.pdf},\n  url_Poster = {https://bercher.net/publications/2023/Lin2023LiftedVerificationAndPlanExPoster.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this paper we study the computational complexity of several reasoning tasks centered at the bounded plan existence problem. We do this for standard classical planning and hierarchical task network (HTN) planning and each for the grounded and the lifted representation. Whereas bounded plan existence complexity is known for classical planning, it has not been studied yet for HTN planning. For plan verification, results were available for both formalisms except the lifted representation of HTN planning. We will thus present the lower bound and the upper bound of the complexity of plan verification in lifted HTN planning and provide novel insights into its grounded counterpart, in which we show that verification is not just NP-complete in the general case, but already for a severely restricted special case. Finally, we show the computational complexity concerning the optimality of a given plan, i.e., answering the question whether such a plan is optimal, and discuss its connection to the bounded plan existence problem.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"olz-bercher-alookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'olz-bercher-alookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023', 'https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf', event);\">\n    A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Conny Olz;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)</i>,  2023. \n  <span class=\"note\">This paper was simultaneously accepted at SoCS and hence only published there.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf\"\n     onclick=\"log_download('olz-bercher-alookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023', 'https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/olz-bercher-alookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>20 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('olz-bercher-alookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Olz2023bTOLookAhead,\n  author    = {Conny Olz and Pascal Bercher},\n  title     = {A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements},\n  booktitle = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},\n  note      = {This paper was simultaneously accepted at SoCS and hence only published there.},\n  year      = {2023},\n  abstract  = {In HTN planning the choice of decomposition methods used to refine compound tasks is key to finding a valid plan. Based on inferred preconditions and effects of compound tasks, we propose a look-ahead technique for search-based total-order HTN planning that can identify inevitable refinement choices and in some cases dead-ends. The former occurs when all but one decomposition method for some task are proven infeasible for turning a task network into a solution, whereas the latter occurs when all methods are proven infeasible. We show how it can be used for pruning, as well as to strengthen heuristics and to reduce the search branching factor. An empirical evaluation proves its potential as incorporating it improves an existing HTN planner such that it is the currently best performing one in terms of coverage and IPC score.},\n  url_Paper = {https://bercher.net/publications/2023/Olz2023TOLookAhead.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In HTN planning the choice of decomposition methods used to refine compound tasks is key to finding a valid plan. Based on inferred preconditions and effects of compound tasks, we propose a look-ahead technique for search-based total-order HTN planning that can identify inevitable refinement choices and in some cases dead-ends. The former occurs when all but one decomposition method for some task are proven infeasible for turning a task network into a solution, whereas the latter occurs when all methods are proven infeasible. We show how it can be used for pruning, as well as to strengthen heuristics and to reduce the search branching factor. An empirical evaluation proves its potential as incorporating it improves an existing HTN planner such that it is the currently best performing one in terms of coverage and IPC score.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2022\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2022')\"\n      onkeypress=\"toggleGroup('group_2022')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2022</span>\n      <span class=\"bibbase_group_count\">\n        \n        (7)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"wu-lin-behnke-bercher-findingsolutionpreservinglinearizationsforpartiallyorderedhierarchicalplanningproblems-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wu-lin-behnke-bercher-findingsolutionpreservinglinearizationsforpartiallyorderedhierarchicalplanningproblems-2022', 'https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf', event);\">\n    Finding Solution Preserving Linearizations For Partially Ordered Hierarchical Planning Problems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ying Xian Wu;  Songtuan Lin;  Gregor Behnke;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>33rd PuK Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2022)</i>,  2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf\"\n     onclick=\"log_download('wu-lin-behnke-bercher-findingsolutionpreservinglinearizationsforpartiallyorderedhierarchicalplanningproblems-2022', 'https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Finding Solution Preserving Linearizations For Partially Ordered Hierarchical Planning Problems [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2022/Wu2022HTNLinearizationSlides.pdf\"\n     onclick=\"log_download('wu-lin-behnke-bercher-findingsolutionpreservinglinearizationsforpartiallyorderedhierarchicalplanningproblems-2022', 'https://bercher.net/publications/2022/Wu2022HTNLinearizationSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Finding Solution Preserving Linearizations For Partially Ordered Hierarchical Planning Problems [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.member.uni-oldenburg.de/juergen.sauer/PuK/PuK2022/index.html\"\n     onclick=\"log_download('wu-lin-behnke-bercher-findingsolutionpreservinglinearizationsforpartiallyorderedhierarchicalplanningproblems-2022', 'http://www.member.uni-oldenburg.de/juergen.sauer/PuK/PuK2022/index.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Finding Solution Preserving Linearizations For Partially Ordered Hierarchical Planning Problems [link]\"\n       title=\" workshop\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> workshop</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wu-lin-behnke-bercher-findingsolutionpreservinglinearizationsforpartiallyorderedhierarchicalplanningproblems-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wu-lin-behnke-bercher-findingsolutionpreservinglinearizationsforpartiallyorderedhierarchicalplanningproblems-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Wu2022HTNLinearization,\n  author       = {Ying Xian Wu and Songtuan Lin and Gregor Behnke and Pascal Bercher},\n  booktitle    = {33rd {PuK} Workshop &#x60;&#x60;Planen, Scheduling und Konfigurieren, Entwerfen&#x27;&#x27; ({PuK} 2022)},\n  title        = {Finding Solution Preserving Linearizations For Partially Ordered Hierarchical Planning Problems},\n  year         = {2022},\n  abstract     = {Solving partially ordered hierarchical planning problems is more computationally expensive compared to solving totally ordered ones. Therefore, automatically transforming partially ordered problem domains into totally ordered ones, such that the totally ordered problem still retains at least one solution, would be a desired capability as it would reduce complexity and thus make it easier for planning systems to solve the problem. This is a complex endeavour, because even creating all possible linearizations of all methods in the original domain does not guarantee that solutions are preserved. It also allows the planner to use algorithms and heuristics specialised for the totally ordered case to solve the transformed problem. In this paper, we propose an algorithm for converting partially ordered problems into totally ordered ones and give criterion for when this is possible. We test our techniques on the partially-ordered track of the bench-mark set of the IPC 2020 and solve both the linearized and the original partially-ordered problems using state-of-the-art planning systems. We find that in the majority of problems across a variety of domains, the linearized problem remains solvable, and can always be solved faster than the without our proposed pre-processing technique.},\n  url_Paper    = {https://bercher.net/publications/2022/Wu2022HTNLinearization.pdf},\n  url_Slides   = {https://bercher.net/publications/2022/Wu2022HTNLinearizationSlides.pdf},\n  url_Workshop = {http://www.member.uni-oldenburg.de/juergen.sauer/PuK/PuK2022/index.html}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Solving partially ordered hierarchical planning problems is more computationally expensive compared to solving totally ordered ones. Therefore, automatically transforming partially ordered problem domains into totally ordered ones, such that the totally ordered problem still retains at least one solution, would be a desired capability as it would reduce complexity and thus make it easier for planning systems to solve the problem. This is a complex endeavour, because even creating all possible linearizations of all methods in the original domain does not guarantee that solutions are preserved. It also allows the planner to use algorithms and heuristics specialised for the totally ordered case to solve the transformed problem. In this paper, we propose an algorithm for converting partially ordered problems into totally ordered ones and give criterion for when this is possible. We test our techniques on the partially-ordered track of the bench-mark set of the IPC 2020 and solve both the linearized and the original partially-ordered problems using state-of-the-art planning systems. We find that in the majority of problems across a variety of domains, the linearized problem remains solvable, and can always be solved faster than the without our proposed pre-processing technique.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lin-grastien-bercher-planningdomainrepairasadiagnosisproblem-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lin-grastien-bercher-planningdomainrepairasadiagnosisproblem-2022', 'https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf', event);\">\n    Planning Domain Repair as a Diagnosis Problem.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Songtuan Lin;  Alban Grastien;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 33rd International Workshop on Principles of Diagnosis (DX 2022)</i>,  2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf\"\n     onclick=\"log_download('lin-grastien-bercher-planningdomainrepairasadiagnosisproblem-2022', 'https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Planning Domain Repair as a Diagnosis Problem [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022RepairAsDiagnosisSlides.pdf\"\n     onclick=\"log_download('lin-grastien-bercher-planningdomainrepairasadiagnosisproblem-2022', 'https://bercher.net/publications/2022/Lin2022RepairAsDiagnosisSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Planning Domain Repair as a Diagnosis Problem [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lin-grastien-bercher-planningdomainrepairasadiagnosisproblem-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lin-grastien-bercher-planningdomainrepairasadiagnosisproblem-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Lin2022RepairAsDiagnosis,\n  author     = {Songtuan Lin and Alban Grastien and Pascal Bercher},\n  booktitle  = {Proceedings of the 33rd International Workshop on Principles of Diagnosis (DX 2022)},\n  title      = {Planning Domain Repair as a Diagnosis Problem},\n  year       = {2022},\n  abstract   = {Techniques for diagnosis have been used in many applications. We explore the connection between diagnosis and AI planning in this paper and apply the diagnosis algorithm to repair a flawed planning domain. In particular, the scenario we are concerned with is that we are given a plan which is supposed to be a solution to a planning problem, but it is actually not due to some flaws in the planning domain, and we want to repair the domain to turn the plan into a solution. For this, we will first frame this problem as a diagnosis problem and then solve it via using diagnosis algorithms.},\n  url_Paper  = {https://bercher.net/publications/2022/Lin2022RepairAsDiagnosis.pdf},\n  url_Slides = {https://bercher.net/publications/2022/Lin2022RepairAsDiagnosisSlides.pdf},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Techniques for diagnosis have been used in many applications. We explore the connection between diagnosis and AI planning in this paper and apply the diagnosis algorithm to repair a flawed planning domain. In particular, the scenario we are concerned with is that we are given a plan which is supposed to be a solution to a planning problem, but it is actually not due to some flaws in the planning domain, and we want to repair the domain to turn the plan into a solution. For this, we will first frame this problem as a diagnosis problem and then solve it via using diagnosis algorithms.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lin-behnke-bercher-exploitingsolutionordergraphsandpathdecompositiontreesformoreefficienthtnplanverificationviasatsolving-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lin-behnke-bercher-exploitingsolutionordergraphsandpathdecompositiontreesformoreefficienthtnplanverificationviasatsolving-2022', 'https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf', event);\">\n    Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Songtuan Lin;  Gregor Behnke;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)</i>, pages 24–28,  2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf\"\n     onclick=\"log_download('lin-behnke-bercher-exploitingsolutionordergraphsandpathdecompositiontreesformoreefficienthtnplanverificationviasatsolving-2022', 'https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022SATbasedVerificationPoster.pdf\"\n     onclick=\"log_download('lin-behnke-bercher-exploitingsolutionordergraphsandpathdecompositiontreesformoreefficienthtnplanverificationviasatsolving-2022', 'https://bercher.net/publications/2022/Lin2022SATbasedVerificationPoster.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/DbDTuY7dOxM\"\n     onclick=\"log_download('lin-behnke-bercher-exploitingsolutionordergraphsandpathdecompositiontreesformoreefficienthtnplanverificationviasatsolving-2022', 'https://youtu.be/DbDTuY7dOxM', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving [link]\"\n       title=\" presentation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> presentation</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lin-behnke-bercher-exploitingsolutionordergraphsandpathdecompositiontreesformoreefficienthtnplanverificationviasatsolving-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>17 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lin-behnke-bercher-exploitingsolutionordergraphsandpathdecompositiontreesformoreefficienthtnplanverificationviasatsolving-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Lin2022SATviaSOGs,\n  author           = {Songtuan Lin and Gregor Behnke and Pascal Bercher},\n  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},\n  title            = {Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving},\n  year             = {2022},\n  pages            = {24--28},\n  abstract         = {The research on the plan verification problem has drawn increasing attention in the last few years. It can serve as an approach for validating a planning domain by viewing an input plan as a test case which is supposed to be a solution to a planning problem in the domain which is to be validated. In this paper, we study the plan verification problem in the context of Hierarchical Task Network (HTN) planning. Concretely, we will develop an SAT-based approach via exploiting the data structures solution order graphs and path decomposition trees employed by the state-of-the-art SAT-based HTN planner which transforms an HTN plan verification problem into an SAT formula. Additionally, for the purpose of completeness, we will also reimplement the old SAT-based plan verifier within an outdated planning system called PANDA-3 and integrate it into the new version called PANDA-pi.},\n  url_Paper        = {https://bercher.net/publications/2022/Lin2022SATbasedVerification.pdf},\n  url_Poster       = {https://bercher.net/publications/2022/Lin2022SATbasedVerificationPoster.pdf},\n  url_presentation = {https://youtu.be/DbDTuY7dOxM}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The research on the plan verification problem has drawn increasing attention in the last few years. It can serve as an approach for validating a planning domain by viewing an input plan as a test case which is supposed to be a solution to a planning problem in the domain which is to be validated. In this paper, we study the plan verification problem in the context of Hierarchical Task Network (HTN) planning. Concretely, we will develop an SAT-based approach via exploiting the data structures solution order graphs and path decomposition trees employed by the state-of-the-art SAT-based HTN planner which transforms an HTN plan verification problem into an SAT formula. Additionally, for the purpose of completeness, we will also reimplement the old SAT-based plan verifier within an outdated planning system called PANDA-3 and integrate it into the new version called PANDA-pi.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lin-behnke-ondrkov-bartk-bercher-ontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lin-behnke-ondrkov-bartk-bercher-ontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2022', 'https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf', event);\">\n    On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Songtuan Lin;  Gregor Behnke;  Simona Ondrčková;  Roman Barták;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)</i>, pages 52–58,  2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf\"\n     onclick=\"log_download('lin-behnke-ondrkov-bartk-bercher-ontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2022', 'https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2022/Lin2022HTNCYKParsingPoster.pdf\"\n     onclick=\"log_download('lin-behnke-ondrkov-bartk-bercher-ontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2022', 'https://bercher.net/publications/2022/Lin2022HTNCYKParsingPoster.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/AJqmbG9Bs2M\"\n     onclick=\"log_download('lin-behnke-ondrkov-bartk-bercher-ontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2022', 'https://youtu.be/AJqmbG9Bs2M', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm [link]\"\n       title=\" presentation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> presentation</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lin-behnke-ondrkov-bartk-bercher-ontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lin-behnke-ondrkov-bartk-bercher-ontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Lin2022CYKParsing,\n  author           = {Songtuan Lin and Gregor Behnke and Simona Ondrčková and Roman Barták and Pascal Bercher},\n  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},\n  title            = {On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm},\n  year             = {2022},\n  pages            = {52--58},\n  abstract         = {In this paper, we consider the plan verification problem for totally ordered (TO) HTN planning. The problem is proved to be solvable in polynomial time by recognizing its connection to the membership decision problem for context-free grammars. The current state-of-the-art TO plan verifier solves the problem by a blind search approach in order to deal with some state constraints and henceforth results in several overheads. However, many existing TOHTN planning benchmarks do not have these constraints. Hence, we ignore them in the paper and develop a TOHTN plan verification approach which avoids those overheads in the state-of-the-art TO verifier via extending the CYK algorithm.},\n  url_Paper        = {https://bercher.net/publications/2022/Lin2022HTNCYKParsing.pdf},\n  url_Poster       = {https://bercher.net/publications/2022/Lin2022HTNCYKParsingPoster.pdf},\n  url_presentation = {https://youtu.be/AJqmbG9Bs2M}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this paper, we consider the plan verification problem for totally ordered (TO) HTN planning. The problem is proved to be solvable in polynomial time by recognizing its connection to the membership decision problem for context-free grammars. The current state-of-the-art TO plan verifier solves the problem by a blind search approach in order to deal with some state constraints and henceforth results in several overheads. However, many existing TOHTN planning benchmarks do not have these constraints. Hence, we ignore them in the paper and develop a TOHTN plan verification approach which avoids those overheads in the state-of-the-art TO verifier via extending the CYK algorithm.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"olz-bercher-ontheefficientinferenceofpreconditionsandeffectsofcompoundtasksinpartiallyorderedhtnplanningdomains-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'olz-bercher-ontheefficientinferenceofpreconditionsandeffectsofcompoundtasksinpartiallyorderedhtnplanningdomains-2022', 'https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf', event);\">\n    On the Efficient Inference of Preconditions and Effects of Compound Tasks in Partially Ordered HTN Planning Domains.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Conny Olz;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)</i>, pages 47–51,  2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf\"\n     onclick=\"log_download('olz-bercher-ontheefficientinferenceofpreconditionsandeffectsofcompoundtasksinpartiallyorderedhtnplanningdomains-2022', 'https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Efficient Inference of Preconditions and Effects of Compound Tasks in Partially Ordered HTN Planning Domains [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/QsQsXBYu0yI\"\n     onclick=\"log_download('olz-bercher-ontheefficientinferenceofpreconditionsandeffectsofcompoundtasksinpartiallyorderedhtnplanningdomains-2022', 'https://youtu.be/QsQsXBYu0yI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"On the Efficient Inference of Preconditions and Effects of Compound Tasks in Partially Ordered HTN Planning Domains [link]\"\n       title=\" presentation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> presentation</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/olz-bercher-ontheefficientinferenceofpreconditionsandeffectsofcompoundtasksinpartiallyorderedhtnplanningdomains-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('olz-bercher-ontheefficientinferenceofpreconditionsandeffectsofcompoundtasksinpartiallyorderedhtnplanningdomains-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Olz2022POPrecsAndEffects,\n  author           = {Conny Olz and Pascal Bercher},\n  booktitle        = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},\n  title            = {On the Efficient Inference of Preconditions and Effects of Compound Tasks in Partially Ordered HTN Planning Domains},\n  year             = {2022},\n  Pages            = {47--51},\n  abstract         = {Recently, preconditions and effects of compound tasks based on their possible refinements have been introduced together with an efficient inference procedure to compute a subset of them. However, they were restricted to total-order HTN planning domains. In this paper we generalize the definitions and algorithm to the scenario of partially ordered domains.},\n  url_Paper        = {https://bercher.net/publications/2022/Olz2022POPrecsAndEffects.pdf},\n  url_presentation = {https://youtu.be/QsQsXBYu0yI}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Recently, preconditions and effects of compound tasks based on their possible refinements have been introduced together with an efficient inference procedure to compute a subset of them. However, they were restricted to total-order HTN planning domains. In this paper we generalize the definitions and algorithm to the scenario of partially ordered domains.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022', 'https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf', event);\">\n    A Study of the Power of Heuristic-based Pruning via SAT Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Christopher Johnson;  Pascal Bercher;  and  Charles Gretton.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 14th Workshop on Heuristics and Search for Domain-independent Planning (HSDIP 2022)</i>,  2022. \n  <span class=\"note\">This paper has also been accepted at KEPS 2022.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf\"\n     onclick=\"log_download('johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022', 'https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Study of the Power of Heuristic-based Pruning via SAT Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=HFntrSAyszU\"\n     onclick=\"log_download('johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022', 'https://www.youtube.com/watch?v=HFntrSAyszU', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Study of the Power of Heuristic-based Pruning via SAT Planning [link]\"\n       title=\" presentation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> presentation</span></a>\n  &nbsp;\n  \n  <a href=\"https://openreview.net/forum?id=c2-QShxGZt\"\n     onclick=\"log_download('johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022', 'https://openreview.net/forum?id=c2-QShxGZt', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Study of the Power of Heuristic-based Pruning via SAT Planning [link]\"\n       title=\" openreview\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> openreview</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Johnson2022aSATPruning,\n  author           = {Christopher Johnson and Pascal Bercher and Charles Gretton},\n  booktitle        = {Proceedings of the 14th Workshop on Heuristics and Search for Domain-independent Planning (HSDIP 2022)},\n  title            = {A Study of the Power of Heuristic-based Pruning via SAT Planning},\n  year             = {2022},\n  abstract         = {Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information.\nWe make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.},\n  note             = {This paper has also been accepted at KEPS 2022.},\n  url_Paper        = {https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf},\n  url_presentation = {https://www.youtube.com/watch?v=HFntrSAyszU},\n  url_openReview   = {https://openreview.net/forum?id=c2-QShxGZt}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information. We make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022', 'https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf', event);\">\n    A Study of the Power of Heuristic-based Pruning via SAT Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Christopher Johnson;  Pascal Bercher;  and  Charles Gretton.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 11th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2022)</i>,  2022. \n  <span class=\"note\">This paper has also been accepted at HSDIP 2022, the linked openReview reviews are from HSDIP.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf\"\n     onclick=\"log_download('johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022', 'https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Study of the Power of Heuristic-based Pruning via SAT Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://openreview.net/forum?id=c2-QShxGZt\"\n     onclick=\"log_download('johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022', 'https://openreview.net/forum?id=c2-QShxGZt', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Study of the Power of Heuristic-based Pruning via SAT Planning [link]\"\n       title=\" openreview\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> openreview</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-bercher-gretton-astudyofthepowerofheuristicbasedpruningviasatplanning-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Johnson2022bSATPruning,\n  author    = {Christopher Johnson and Pascal Bercher and Charles Gretton},\n  booktitle = {Proceedings of the 11th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2022)},\n  title     = {A Study of the Power of Heuristic-based Pruning via SAT Planning},\n  year      = {2022},\n  abstract  = {Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information.\nWe make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.},\n  note      = {This paper has also been accepted at HSDIP 2022, the linked openReview reviews are from HSDIP.},\n  url_Paper     = {https://bercher.net/publications/2022/Johnson2022SATBasedHeuristicPruning.pdf},\n  url_openReview = {https://openreview.net/forum?id=c2-QShxGZt}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Planning as SAT (satisfiability) is the method of representing a horizon-bounded planning problem as a Boolean SAT problem, and using a SAT decision procedure to solve that problem. Representations are direct, thus a solution plan can be obtained directly from a satisfying valuation. By querying a SAT solver over a series of horizon lengths, up to a completeness threshold, this approach can be the basis of a complete planning procedure. SAT planning algorithms have been theoretically contrasted with IDA∗ search, a heuristic state-based search algorithm, where a theoretical exponential separation is demonstrated in favour of the SAT approach. Here a nominated heuristic is implemented in SAT with the query formulae encoding heuristic information. We make two practical contributions related to this background. First, we provide to the best of our knowledge the first practical implementation of a theoretical SAT encoding of the h-2 heuristic. Second, we empirically evaluate SAT-based pruning by implementing heuristics h-max and h-2.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2021\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2021')\"\n      onkeypress=\"toggleGroup('group_2021')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2021</span>\n      <span class=\"bibbase_group_count\">\n        \n        (6)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"olz-wierzba-bercher-lindner-towardsimprovingthecomprehensionofhtnplanningdomainsbymeansofpreconditionsandeffectsofcompoundtasks-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'olz-wierzba-bercher-lindner-towardsimprovingthecomprehensionofhtnplanningdomainsbymeansofpreconditionsandeffectsofcompoundtasks-2021', 'https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf', event);\">\n    Towards Improving the Comprehension of HTN Planning Domains by Means of Preconditions and Effects of Compound Tasks.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Conny Olz;  Eva Wierzba;  Pascal Bercher;  and  Felix Lindner.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 10th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2021)</i>,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf\"\n     onclick=\"log_download('olz-wierzba-bercher-lindner-towardsimprovingthecomprehensionofhtnplanningdomainsbymeansofpreconditionsandeffectsofcompoundtasks-2021', 'https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards Improving the Comprehension of HTN Planning Domains by Means of Preconditions and Effects of Compound Tasks [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2021/Olz2021ComprehendHTNModelsSlides.pdf\"\n     onclick=\"log_download('olz-wierzba-bercher-lindner-towardsimprovingthecomprehensionofhtnplanningdomainsbymeansofpreconditionsandeffectsofcompoundtasks-2021', 'https://bercher.net/publications/2021/Olz2021ComprehendHTNModelsSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards Improving the Comprehension of HTN Planning Domains by Means of Preconditions and Effects of Compound Tasks [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=jLcTjrtNhaY&amp;list=PLd_hcmfMPvAhDzHla0ZR6dNsiKBlwsx6K&amp;index=11\"\n     onclick=\"log_download('olz-wierzba-bercher-lindner-towardsimprovingthecomprehensionofhtnplanningdomainsbymeansofpreconditionsandeffectsofcompoundtasks-2021', 'https://www.youtube.com/watch?v=jLcTjrtNhaY&amp;list=PLd_hcmfMPvAhDzHla0ZR6dNsiKBlwsx6K&amp;index=11', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards Improving the Comprehension of HTN Planning Domains by Means of Preconditions and Effects of Compound Tasks [link]\"\n       title=\" video-of-paper-presentation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video-of-paper-presentation</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/olz-wierzba-bercher-lindner-towardsimprovingthecomprehensionofhtnplanningdomainsbymeansofpreconditionsandeffectsofcompoundtasks-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('olz-wierzba-bercher-lindner-towardsimprovingthecomprehensionofhtnplanningdomainsbymeansofpreconditionsandeffectsofcompoundtasks-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Olz2021ComprehendHTNModels,\n  author    = {Conny Olz and Eva Wierzba and Pascal Bercher and Felix Lindner},\n  title     = {Towards Improving the Comprehension of HTN Planning Domains by Means of Preconditions and Effects of Compound Tasks},\n  booktitle = {Proceedings of the 10th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2021)},\n  year      = {2021},\n  abstract  = {Hierarchical Task Network (HTN) planning is a paradigm that offers engineers a formalism for modeling planning domains in terms of possible decompositions of compound tasks. A complete decomposition of a compound task results in totally or partially ordered primitive tasks, i.e., plans in the classical sense. Existing specification languages for HTN domains, such as HDDL, do only allow the assertion of preconditions and effects for primitive tasks but not for compound ones. Recently, a method for inferring preconditions and effects for compound tasks was proposed. It was hypothesized that inferred preconditions and effects can aid knowledge engineers in understanding HTN domain specifications and in predicting the meaning of particular compound tasks. We describe preliminary results from a study that supports this hypothesis and discuss future research directions.},\n  url_Paper = {https://bercher.net/publications/2021/Olz2021ComprehendHTNModels.pdf},\n  url_Slides = {https://bercher.net/publications/2021/Olz2021ComprehendHTNModelsSlides.pdf},\n  url_video-of-paper-presentation = {https://www.youtube.com/watch?v=jLcTjrtNhaY&amp;list=PLd_hcmfMPvAhDzHla0ZR6dNsiKBlwsx6K&amp;index=11}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Hierarchical Task Network (HTN) planning is a paradigm that offers engineers a formalism for modeling planning domains in terms of possible decompositions of compound tasks. A complete decomposition of a compound task results in totally or partially ordered primitive tasks, i.e., plans in the classical sense. Existing specification languages for HTN domains, such as HDDL, do only allow the assertion of preconditions and effects for primitive tasks but not for compound ones. Recently, a method for inferring preconditions and effects for compound tasks was proposed. It was hypothesized that inferred preconditions and effects can aid knowledge engineers in understanding HTN domain specifications and in predicting the meaning of particular compound tasks. We describe preliminary results from a study that supports this hypothesis and discuss future research directions.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-bercher-thecomplexityofflexiblefondhtnplanning-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-bercher-thecomplexityofflexiblefondhtnplanning-2021', 'https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf', event);\">\n    The Complexity of Flexible FOND HTN Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Dillon Chen;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)</i>, pages 62–70,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf\"\n     onclick=\"log_download('chen-bercher-thecomplexityofflexiblefondhtnplanning-2021', 'https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Complexity of Flexible FOND HTN Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-bercher-thecomplexityofflexiblefondhtnplanning-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-bercher-thecomplexityofflexiblefondhtnplanning-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Chen2021FlexibleFONDHTNs,\n  author    = {Dillon Chen and Pascal Bercher},\n  title     = {The Complexity of Flexible FOND HTN Planning},\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\n  year      = {2021},\n  pages     = {62--70},\n  abstract  = {Hierarchical Task Network (HTN) planning is an expressive planning formalism that has often been advocated as a first choice to address real-world problems. Yet only a few extensions exist that can deal with the many challenges encountered in the real world. One of them is the capability to express uncertainty. Recently, a new HTN formalism for Fully Observable Nondeterministic (FOND) problems was proposed and studied theoretically. In this paper, we lay out limitations of that formalism and propose an alternative definition, which addresses and resolves such&#x60; limitations. We conduct a complexity study of an alternative, more flexible formalism and provide tight complexity bounds for most of the investigated special cases of the problem.},\n  url_Paper = {https://bercher.net/publications/2021/Chen2021FlexibleFONDHTNs.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Hierarchical Task Network (HTN) planning is an expressive planning formalism that has often been advocated as a first choice to address real-world problems. Yet only a few extensions exist that can deal with the many challenges encountered in the real world. One of them is the capability to express uncertainty. Recently, a new HTN formalism for Fully Observable Nondeterministic (FOND) problems was proposed and studied theoretically. In this paper, we lay out limitations of that formalism and propose an alternative definition, which addresses and resolves such` limitations. We conduct a complexity study of an alternative, more flexible formalism and provide tight complexity bounds for most of the investigated special cases of the problem.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hller-wichlacz-bercher-behnke-compilinghtnplanverificationproblemstohtnplanningproblems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hller-wichlacz-bercher-behnke-compilinghtnplanverificationproblemstohtnplanningproblems-2021', 'https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf', event);\">\n    Compiling HTN Plan Verification Problems to HTN Planning Problems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Höller;  Julia Wichlacz;  Pascal Bercher;  and  Gregor Behnke.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)</i>, pages 8–15,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf\"\n     onclick=\"log_download('hller-wichlacz-bercher-behnke-compilinghtnplanverificationproblemstohtnplanningproblems-2021', 'https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Compiling HTN Plan Verification Problems to HTN Planning Problems [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hller-wichlacz-bercher-behnke-compilinghtnplanverificationproblemstohtnplanningproblems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hller-wichlacz-bercher-behnke-compilinghtnplanverificationproblemstohtnplanningproblems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Hoeller2021VerificationViaPlanning,\n  author    = {Daniel H\\&quot;oller and Julia Wichlacz and Pascal Bercher and Gregor Behnke},\n  title     = {Compiling HTN Plan Verification Problems to HTN Planning Problems},\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\n  year      = {2021},\n  pages     = {8--15},\n  abstract  = {Plan Verification is the task of deciding whether a sequence of actions is a solution for a given planning problem. In HTN planning, the task is computationally expensive and may be up to NP-hard. However, there are situations where it needs to be solved, e.g. when a solution is post-processed, in systems using approximation, or just to validate whether a planning system works correctly (e.g. for debugging or in a competition). In the literature, there are verification systems based on translations to propositional logic and based on techniques from parsing. Here we present a third approach and translate plan verification problems to HTN planning problems. These can be solved using any HTN planning system. We test our solver on the set of solutions from the 2020 International Planning Competition. Our evaluation is yet preliminary, because it does not include all systems from the literature, but it already shows that our approach performs well compared with the included systems.},\n  url_Paper = {https://bercher.net/publications/2021/Hoeller2021VerificationViaCompilation.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Plan Verification is the task of deciding whether a sequence of actions is a solution for a given planning problem. In HTN planning, the task is computationally expensive and may be up to NP-hard. However, there are situations where it needs to be solved, e.g. when a solution is post-processed, in systems using approximation, or just to validate whether a planning system works correctly (e.g. for debugging or in a competition). In the literature, there are verification systems based on translations to propositional logic and based on techniques from parsing. Here we present a third approach and translate plan verification problems to HTN planning problems. These can be solved using any HTN planning system. We test our solver on the set of solutions from the 2020 International Planning Competition. Our evaluation is yet preliminary, because it does not include all systems from the literature, but it already shows that our approach performs well compared with the included systems.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kiam-bercher-schulte-temporalhierarchicaltasknetworkplanningwithnestedmultivehicleroutingproblemsachallengetoberesolved-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kiam-bercher-schulte-temporalhierarchicaltasknetworkplanningwithnestedmultivehicleroutingproblemsachallengetoberesolved-2021', 'https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf', event);\">\n    Temporal Hierarchical Task Network Planning with Nested Multi-Vehicle Routing Problems – A Challenge to be Resolved.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Jane Jean Kiam;  Pascal Bercher;  and  Axel Schulte.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)</i>, pages 71–75,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf\"\n     onclick=\"log_download('kiam-bercher-schulte-temporalhierarchicaltasknetworkplanningwithnestedmultivehicleroutingproblemsachallengetoberesolved-2021', 'https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Temporal Hierarchical Task Network Planning with Nested Multi-Vehicle Routing Problems – A Challenge to be Resolved [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kiam-bercher-schulte-temporalhierarchicaltasknetworkplanningwithnestedmultivehicleroutingproblemsachallengetoberesolved-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kiam-bercher-schulte-temporalhierarchicaltasknetworkplanningwithnestedmultivehicleroutingproblemsachallengetoberesolved-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Kiam2021TemporalHTNsChallenge,\n  author    = {Jane Jean Kiam and Pascal Bercher and Axel Schulte},\n  title     = {Temporal Hierarchical Task Network Planning with Nested Multi-Vehicle Routing Problems -- A Challenge to be Resolved},\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\n  year      = {2021},\n  pages     = {71--75},\n  abstract  = {This paper focuses on presenting a complex real-world planning application based on a rescue mission. While temporal hierarchical planning seems to be a promising solution to such class of problems, given its ability to consider experts&#x27; knowledge and dissect the search space, many major challenges of complex real-world planning problems are not addressed yet formally, i.e. recursive decomposition to achieve a goal state, optimization of utility functions defined for abstract tasks, and optimal allocation of tasks to multiple actors.},\n  url_Paper = {https://bercher.net/publications/2021/Kiam2021TemporalHTNsChallenge.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper focuses on presenting a complex real-world planning application based on a rescue mission. While temporal hierarchical planning seems to be a promising solution to such class of problems, given its ability to consider experts' knowledge and dissect the search space, many major challenges of complex real-world planning problems are not addressed yet formally, i.e. recursive decomposition to achieve a goal state, optimization of utility functions defined for abstract tasks, and optimal allocation of tasks to multiple actors.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lin-bercher-onthecomputationalcomplexityofcorrectinghtndomainmodels-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lin-bercher-onthecomputationalcomplexityofcorrectinghtndomainmodels-2021', 'https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf', event);\">\n    On the Computational Complexity of Correcting HTN Domain Models.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Songtuan Lin;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)</i>, pages 35–43,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf\"\n     onclick=\"log_download('lin-bercher-onthecomputationalcomplexityofcorrectinghtndomainmodels-2021', 'https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Computational Complexity of Correcting HTN Domain Models [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexitySlides.pdf\"\n     onclick=\"log_download('lin-bercher-onthecomputationalcomplexityofcorrectinghtndomainmodels-2021', 'https://bercher.net/publications/2021/Lin2021HTNChangeComplexitySlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Computational Complexity of Correcting HTN Domain Models [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2021/Lin2021HTNChangeComplexityPoster.pdf\"\n     onclick=\"log_download('lin-bercher-onthecomputationalcomplexityofcorrectinghtndomainmodels-2021', 'https://bercher.net/publications/2021/Lin2021HTNChangeComplexityPoster.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Computational Complexity of Correcting HTN Domain Models [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lin-bercher-onthecomputationalcomplexityofcorrectinghtndomainmodels-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lin-bercher-onthecomputationalcomplexityofcorrectinghtndomainmodels-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Lin2021CorrectingHTNModels,\n  author    = {Songtuan Lin and Pascal Bercher},\n  title     = {On the Computational Complexity of Correcting HTN Domain Models},\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\n  year      = {2021},\n  pages     = {35--43},\n  abstract  = {Incorporating user requests into planning processes is a key concept in developing flexible planning technologies. Such systems may be required to change its planning model to adapt to certain user requests. In this paper, we assume a user provides a non-solution plan to a system and asks it to change the planning model so that the plan becomes a solution. We study the computational complexity of deciding whether such changes exist in the context of Hierarchical Task Network (HTN) planning. We prove that the problem is NP-complete in general independent of what or how many changes are allowed. We also identify several conditions which make the problem tractable when they are satisfied.},\n  url_Paper = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexity.pdf},\n  url_Slides = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexitySlides.pdf},\n  url_Poster = {https://bercher.net/publications/2021/Lin2021HTNChangeComplexityPoster.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Incorporating user requests into planning processes is a key concept in developing flexible planning technologies. Such systems may be required to change its planning model to adapt to certain user requests. In this paper, we assume a user provides a non-solution plan to a system and asks it to change the planning model so that the plan becomes a solution. We study the computational complexity of deciding whether such changes exist in the context of Hierarchical Task Network (HTN) planning. We prove that the problem is NP-complete in general independent of what or how many changes are allowed. We also identify several conditions which make the problem tractable when they are satisfied.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bartk-ondrkov-behnke-bercher-ontheverificationoftotallyorderedhtnplans-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bartk-ondrkov-behnke-bercher-ontheverificationoftotallyorderedhtnplans-2021', 'https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf', event);\">\n    On the Verification of Totally-Ordered HTN Plans.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Roman Barták;  Simona Ondrčková;  Gregor Behnke;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)</i>, pages 44–48,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf\"\n     onclick=\"log_download('bartk-ondrkov-behnke-bercher-ontheverificationoftotallyorderedhtnplans-2021', 'https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Verification of Totally-Ordered HTN Plans [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bartk-ondrkov-behnke-bercher-ontheverificationoftotallyorderedhtnplans-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bartk-ondrkov-behnke-bercher-ontheverificationoftotallyorderedhtnplans-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Bartak2021TOHTNVerification,\n  author    = {Roman Bart{\\&#x27;a}k and Simona Ondr\\v{c}kov\\&#x27;{a} and Gregor Behnke and Pascal Bercher},\n  title     = {On the Verification of Totally-Ordered HTN Plans},\n  booktitle = {Proceedings of the 4th ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\n  year      = {2021},\n  pages     = {44--48},\n  abstract  = {Verifying HTN plans is an intractable problem with two existing approaches to solve the problem. One technique is based on compilation to SAT. Another method is using parsing, and it is currently the fastest technique for verifying HTN plans. In this paper, we propose an extension of the parsing-based approach to verify totally-ordered HTN plans. This problem is known to be tractable, and we show theoretically and empirically that the modified parsing approach achieves better performance than the currently fastest HTN plan verifier when applied to totally-ordered HTN plans.},\n  url_Paper = {https://bercher.net/publications/2021/Bartak2021TOHTNVerification.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Verifying HTN plans is an intractable problem with two existing approaches to solve the problem. One technique is based on compilation to SAT. Another method is using parsing, and it is currently the fastest technique for verifying HTN plans. In this paper, we propose an extension of the parsing-based approach to verify totally-ordered HTN plans. This problem is known to be tractable, and we show theoretically and empirically that the modified parsing approach achieves better performance than the currently fastest HTN plan verifier when applied to totally-ordered HTN plans.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2020\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2020')\"\n      onkeypress=\"toggleGroup('group_2020')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2020</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"hller-bercher-landmarkextractioninhtnplanning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hller-bercher-landmarkextractioninhtnplanning-2020', 'https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf', event);\">\n    Landmark Extraction in HTN Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Höller;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)</i>, pages 9–17,  2020. \n  <span class=\"note\"><strong>Erratum:</strong> Corollary 1 incorrectly claims an NP-completeness result. This should be co-NP-complete, which is stated correctly in the AAAI 2021 version of this paper (also Corollary 1).</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf\"\n     onclick=\"log_download('hller-bercher-landmarkextractioninhtnplanning-2020', 'https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Landmark Extraction in HTN Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hller-bercher-landmarkextractioninhtnplanning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hller-bercher-landmarkextractioninhtnplanning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Hoeller2020Landmarks,\n  author    = {Daniel Höller and Pascal Bercher},\n  title     = {Landmark Extraction in HTN Planning},\n  booktitle = {Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)},\n  year      = {2020},\n  pages     = {9--17},\n  abstract  = {Landmarks are a valuable source of information for heuristics in planning. They have been used both in classical and hierarchical planning, but while there is much work in classical planning, the techniques in hierarchical planning are less evolved. In this paper we summarize landmark techniques for HTN planning, discuss their limitations, and show how to use techniques from classical planning to find more landmarks in HTN planning than previously possible. On a widely used benchmark set, our approach finds 2.3 times the number of landmarks compared to the approach from the literature. We conduct some preliminary tests on landmark-based heuristics for HTN planning. Our empirical evaluation shows that the heuristics based on our new extraction method perform better than the one based on the extraction technique from the literature. However, all landmark-based heuristics are not competitive with recent heuristics in HTN planning.},\n  note      = {&lt;strong&gt;Erratum:&lt;/strong&gt; Corollary 1 incorrectly claims an NP-completeness result. This should be co-NP-complete, which is stated correctly in the AAAI 2021 version of this paper (also Corollary 1).},\n  url_Paper = {https://bercher.net/publications/2020/Hoeller2020LandmarkExtraction.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Landmarks are a valuable source of information for heuristics in planning. They have been used both in classical and hierarchical planning, but while there is much work in classical planning, the techniques in hierarchical planning are less evolved. In this paper we summarize landmark techniques for HTN planning, discuss their limitations, and show how to use techniques from classical planning to find more landmarks in HTN planning than previously possible. On a widely used benchmark set, our approach finds 2.3 times the number of landmarks compared to the approach from the literature. We conduct some preliminary tests on landmark-based heuristics for HTN planning. Our empirical evaluation shows that the heuristics based on our new extraction method perform better than the one based on the extraction technique from the literature. However, all landmark-based heuristics are not competitive with recent heuristics in HTN planning.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"behnke-hller-bercher-biundo-pellier-fiorino-alford-hierarchicalplanningintheipc-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'behnke-hller-bercher-biundo-pellier-fiorino-alford-hierarchicalplanningintheipc-2019', 'https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf', event);\">\n    Hierarchical Planning in the IPC.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Gregor Behnke;  Daniel Höller;  Pascal Bercher;  Susanne Biundo;  Damien Pellier;  Humbert Fiorino;  and  Ron Alford.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Workshop on the International Planning Competition</i>,  2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf\"\n     onclick=\"log_download('behnke-hller-bercher-biundo-pellier-fiorino-alford-hierarchicalplanningintheipc-2019', 'https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hierarchical Planning in the IPC [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2019/Behnke2019HTN-IPCSlides.pdf\"\n     onclick=\"log_download('behnke-hller-bercher-biundo-pellier-fiorino-alford-hierarchicalplanningintheipc-2019', 'https://bercher.net/publications/2019/Behnke2019HTN-IPCSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hierarchical Planning in the IPC [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n  <a href=\"http://ipc2020.hierarchical-task.net\"\n     onclick=\"log_download('behnke-hller-bercher-biundo-pellier-fiorino-alford-hierarchicalplanningintheipc-2019', 'http://ipc2020.hierarchical-task.net', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hierarchical Planning in the IPC [link]\"\n       title=\" ipc-website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> ipc-website</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/behnke-hller-bercher-biundo-pellier-fiorino-alford-hierarchicalplanningintheipc-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('behnke-hller-bercher-biundo-pellier-fiorino-alford-hierarchicalplanningintheipc-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Inproceedings{Behnke2019HTN-IPC,\n   author          = {Gregor Behnke and Daniel H{\\&quot;o}ller and Pascal Bercher and Susanne Biundo and Damien Pellier and Humbert Fiorino and Ron Alford},\n   title           = {Hierarchical Planning in the IPC},\n   year            = {2019},\n   booktitle       = {Proceedings of the Workshop on the International Planning Competition},\n   abstract        = {Over the last years, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is diverging and planners are somewhat hard to compare against each other. This is mostly caused by the fact that there is no standard set of benchmark domains, nor even a common description language for hierarchical planning problems. As a consequence, the available planners support a widely varying set of features and (almost) none of them can solve (or even parse) any problem developed for another planner. With this paper, we propose to create a new track for the IPC in which hierarchical planners will compete. This competition will result in a standardised description language, broader support for core features of that language among planners, a set of benchmark problems, a means to fairly and objectively compare HTN planners, and for new challenges for planners.},\n   url_Paper       = {https://bercher.net/publications/2019/Behnke2019HTN-IPC.pdf},\n   url_Slides      = {https://bercher.net/publications/2019/Behnke2019HTN-IPCSlides.pdf},\n   url_IPC-website = {http://ipc2020.hierarchical-task.net}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Over the last years, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is diverging and planners are somewhat hard to compare against each other. This is mostly caused by the fact that there is no standard set of benchmark domains, nor even a common description language for hierarchical planning problems. As a consequence, the available planners support a widely varying set of features and (almost) none of them can solve (or even parse) any problem developed for another planner. With this paper, we propose to create a new track for the IPC in which hierarchical planners will compete. This competition will result in a standardised description language, broader support for core features of that language among planners, a set of benchmark problems, a means to fairly and objectively compare HTN planners, and for new challenges for planners.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hller-behnke-bercher-biundo-fiorino-pellier-alford-hddlalanguagetodescribehierarchicalplanningproblems-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2019/Hoeller2019HDDL.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hller-behnke-bercher-biundo-fiorino-pellier-alford-hddlalanguagetodescribehierarchicalplanningproblems-2019', 'https://bercher.net/publications/2019/Hoeller2019HDDL.pdf', event);\">\n    HDDL – A Language to Describe Hierarchical Planning Problems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Höller;  Gregor Behnke;  Pascal Bercher;  Susanne Biundo;  Humbert Fiorino;  Damien Pellier;  and  Ron Alford.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)</i>, pages 6–14,  2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2019/Hoeller2019HDDL.pdf\"\n     onclick=\"log_download('hller-behnke-bercher-biundo-fiorino-pellier-alford-hddlalanguagetodescribehierarchicalplanningproblems-2019', 'https://bercher.net/publications/2019/Hoeller2019HDDL.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"HDDL – A Language to Describe Hierarchical Planning Problems [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://openreview.net/forum?id=HJeT8HBbt4\"\n     onclick=\"log_download('hller-behnke-bercher-biundo-fiorino-pellier-alford-hddlalanguagetodescribehierarchicalplanningproblems-2019', 'https://openreview.net/forum?id=HJeT8HBbt4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"HDDL – A Language to Describe Hierarchical Planning Problems [link]\"\n       title=\" openreview\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> openreview</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hller-behnke-bercher-biundo-fiorino-pellier-alford-hddlalanguagetodescribehierarchicalplanningproblems-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hller-behnke-bercher-biundo-fiorino-pellier-alford-hddlalanguagetodescribehierarchicalplanningproblems-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Inproceedings{Hoeller2019HDDL,\n   author    = {Daniel H{\\&quot;o}ller and Gregor Behnke and Pascal Bercher and Susanne Biundo and Humbert Fiorino and Damien Pellier and Ron Alford},\n   title     = {HDDL -- A Language to Describe Hierarchical Planning Problems},\n   year      = {2019},\n   booktitle = {Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)},\n   pages     = {6--14},\n   abstract  = {The research in hierarchical planning has made considerable progress in the last few years. Many recent systems do not rely on hand-tailored advice anymore to find solutions, but are supposed to be domain-independent systems that come with sophisticated solving techniques. In principle, this development would make the comparison between systems easier (because the domains are not tailored to a single system anymore) and -- much more important -- also the integration into other systems, because the modeling process is less tedious (due to the lack of advice) and there is no (or less) commitment to a certain planning system the model is created for. However, these advantages are destroyed by the lack of a common input language and feature set supported by the different systems. In this paper, we propose an extension to PDDL, the description language used in non-hierarchical planning, to the needs of hierarchical planning systems. We restrict our language to a basic feature set shared by many recent systems, give an extension of PDDL&#x27;s EBNF syntax definition, and discuss our extensions, especially with respect to planner-specific input languages from related work.},\n   url_Paper = {https://bercher.net/publications/2019/Hoeller2019HDDL.pdf},\n   url_openReview = {https://openreview.net/forum?id=HJeT8HBbt4}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The research in hierarchical planning has made considerable progress in the last few years. Many recent systems do not rely on hand-tailored advice anymore to find solutions, but are supposed to be domain-independent systems that come with sophisticated solving techniques. In principle, this development would make the comparison between systems easier (because the domains are not tailored to a single system anymore) and – much more important – also the integration into other systems, because the modeling process is less tedious (due to the lack of advice) and there is no (or less) commitment to a certain planning system the model is created for. However, these advantages are destroyed by the lack of a common input language and feature set supported by the different systems. In this paper, we propose an extension to PDDL, the description language used in non-hierarchical planning, to the needs of hierarchical planning systems. We restrict our language to a basic feature set shared by many recent systems, give an extension of PDDL's EBNF syntax definition, and discuss our extensions, especially with respect to planner-specific input languages from related work.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"behnke-hller-bercher-biundo-moresuccinctgroundingofhtnplanningproblemspreliminaryresults-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'behnke-hller-bercher-biundo-moresuccinctgroundingofhtnplanningproblemspreliminaryresults-2019', 'https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf', event);\">\n    More Succinct Grounding of HTN Planning Problems – Preliminary Results.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Gregor Behnke;  Daniel Höller;  Pascal Bercher;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)</i>, pages 40–48,  2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf\"\n     onclick=\"log_download('behnke-hller-bercher-biundo-moresuccinctgroundingofhtnplanningproblemspreliminaryresults-2019', 'https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"More Succinct Grounding of HTN Planning Problems – Preliminary Results [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://openreview.net/forum?id=H1lgDHr-FE\"\n     onclick=\"log_download('behnke-hller-bercher-biundo-moresuccinctgroundingofhtnplanningproblemspreliminaryresults-2019', 'https://openreview.net/forum?id=H1lgDHr-FE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"More Succinct Grounding of HTN Planning Problems – Preliminary Results [link]\"\n       title=\" openreview\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> openreview</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/behnke-hller-bercher-biundo-moresuccinctgroundingofhtnplanningproblemspreliminaryresults-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('behnke-hller-bercher-biundo-moresuccinctgroundingofhtnplanningproblemspreliminaryresults-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Inproceedings{Behnke2019GroundingHTNs,\n   author    = {Gregor Behnke and Daniel H{\\&quot;o}ller and Pascal Bercher and Susanne Biundo},\n   title     = {More Succinct Grounding of HTN Planning Problems -- Preliminary Results},\n   year      = {2019},\n   booktitle = {Proceedings of the Second ICAPS Workshop on Hierarchical Planning (HPlan 2019)},\n   pages     = {40--48},\n   abstract  = {Planning systems usually operate on grounded representations of the planning problems during search. Further, planners that use translations into other combinatorial problems also often perform their translations based on a grounded model. Planning models, however, are commonly defined in a lifted formalism. As such, one of the first preprocessing steps a planner performs is to generate a grounded representation. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings than the previously published method. We expect this decrease in size to lead to more efficient planners.},\n   url_Paper = {https://bercher.net/publications/2019/Behnke2019GroundingHTNs.pdf},\n   url_openReview = {https://openreview.net/forum?id=H1lgDHr-FE}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Planning systems usually operate on grounded representations of the planning problems during search. Further, planners that use translations into other combinatorial problems also often perform their translations based on a grounded model. Planning models, however, are commonly defined in a lifted formalism. As such, one of the first preprocessing steps a planner performs is to generate a grounded representation. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings than the previously published method. We expect this decrease in size to lead to more efficient planners.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"schiller-behnke-bercher-kraus-dorna-richter-biundo-glimm-etal-evaluatingknowledgebasedassistancefordiy-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'schiller-behnke-bercher-kraus-dorna-richter-biundo-glimm-etal-evaluatingknowledgebasedassistancefordiy-2018', 'https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf', event);\">\n    Evaluating Knowledge-Based Assistance for DIY.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Marvin Schiller;  Gregor Behnke;  Pascal Bercher;  Matthias Kraus;  Michael Dorna;  Felix Richter;  Susanne Biundo;  Birte Glimm;  and  Wolfgang Minker.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of MCI Workshop Digital Companion</i>, pages 925–930,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf\"\n     onclick=\"log_download('schiller-behnke-bercher-kraus-dorna-richter-biundo-glimm-etal-evaluatingknowledgebasedassistancefordiy-2018', 'https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Evaluating Knowledge-Based Assistance for DIY [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2018/Schiller2018EvaluatingDIYSlides.pdf\"\n     onclick=\"log_download('schiller-behnke-bercher-kraus-dorna-richter-biundo-glimm-etal-evaluatingknowledgebasedassistancefordiy-2018', 'https://bercher.net/publications/2018/Schiller2018EvaluatingDIYSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Evaluating Knowledge-Based Assistance for DIY [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schiller-behnke-bercher-kraus-dorna-richter-biundo-glimm-etal-evaluatingknowledgebasedassistancefordiy-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schiller-behnke-bercher-kraus-dorna-richter-biundo-glimm-etal-evaluatingknowledgebasedassistancefordiy-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Inproceedings{Schiller2018EvaluatingDIY,\n   author     = {Schiller, Marvin and Behnke, Gregor and Pascal Bercher and Kraus, Matthias and Dorna, Michael and Richter, Felix and Biundo, Susanne and Glimm, Birte and Minker, Wolfgang},\n   title      = {Evaluating Knowledge-Based Assistance for DIY},\n   year       = {2018},\n   pages      = {925--930},\n   booktitle  = {Proceedings of MCI Workshop Digital Companion},\n   abstract   = {We report on the development of a companion system incorporating hierarchical planning, ontology-based knowledge modeling and multimodal cloud-based dialog. As an application scenario, we consider the domain of do-it-yourself (DIY) home improvement involving the use of power tools. To test and -- if necessary -- adjust the developed techniques, user studies are conducted throughout the development phase. We present fundamental considerations and open questions encountered when testing the implemented prototype with potential users and report first observations from a current study.},\n   url_Paper  = {https://bercher.net/publications/2018/Schiller2018EvaluatingDIY.pdf},\n   url_Slides = {https://bercher.net/publications/2018/Schiller2018EvaluatingDIYSlides.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We report on the development of a companion system incorporating hierarchical planning, ontology-based knowledge modeling and multimodal cloud-based dialog. As an application scenario, we consider the domain of do-it-yourself (DIY) home improvement involving the use of power tools. To test and – if necessary – adjust the developed techniques, user studies are conducted throughout the development phase. We present fundamental considerations and open questions encountered when testing the implemented prototype with potential users and report first observations from a current study.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hller-bercher-behnke-biundo-htnplanrepairusingunmodifiedplanningsystems-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hller-bercher-behnke-biundo-htnplanrepairusingunmodifiedplanningsystems-2018', 'https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf', event);\">\n    HTN Plan Repair Using Unmodified Planning Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Höller;  Pascal Bercher;  Gregor Behnke;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the First ICAPS Workshop on Hierarchical Planning (HPlan 2018)</i>, pages 26–30,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf\"\n     onclick=\"log_download('hller-bercher-behnke-biundo-htnplanrepairusingunmodifiedplanningsystems-2018', 'https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"HTN Plan Repair Using Unmodified Planning Systems [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hller-bercher-behnke-biundo-htnplanrepairusingunmodifiedplanningsystems-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hller-bercher-behnke-biundo-htnplanrepairusingunmodifiedplanningsystems-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Inproceedings{Hoeller2018HTNRepair,\n   author    = {Daniel Höller and Pascal Bercher and Gregor Behnke and Susanne Biundo},\n   title     = {HTN Plan Repair Using Unmodified Planning Systems},\n   year      = {2018},\n   pages     = {26--30},\n   booktitle = {Proceedings of the First ICAPS Workshop on Hierarchical Planning (HPlan 2018)},\n   abstract  = {To make planning feasible, planning models abstract from many details of the modeled system. When executing plans in the actual system, the model might be inaccurate in a critical point, and plan execution may fail. There are two options to handle this case: the previous solution can be modified to address the failure (plan repair), or the planning process can be re-started from the new situation (re-planning). In HTN planning, discarding the plan and generating a new one from the novel situation is not easily possible, because the HTN solution criteria make it necessary to take already executed actions into account. Therefore all approaches to repair plans in the literature are based on specialized algorithms. In this paper, we discuss the problem in detail and introduce a novel approach that makes it possible to use unchanged, off-the-shelf HTN planning systems to repair broken HTN plans. That way, no specialized solvers are needed.},\n   url_Paper = {https://bercher.net/publications/2018/Hoeller2018HTNRepair.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  To make planning feasible, planning models abstract from many details of the modeled system. When executing plans in the actual system, the model might be inaccurate in a critical point, and plan execution may fail. There are two options to handle this case: the previous solution can be modified to address the failure (plan repair), or the planning process can be re-started from the new situation (re-planning). In HTN planning, discarding the plan and generating a new one from the novel situation is not easily possible, because the HTN solution criteria make it necessary to take already executed actions into account. Therefore all approaches to repair plans in the literature are based on specialized algorithms. In this paper, we discuss the problem in detail and introduce a novel approach that makes it possible to use unchanged, off-the-shelf HTN planning systems to repair broken HTN plans. That way, no specialized solvers are needed.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kraus-behnke-bercher-schiller-biundo-glimm-minker-amultimodaldialogueframeworkforcloudbasedcompanionsystems-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kraus-behnke-bercher-schiller-biundo-glimm-minker-amultimodaldialogueframeworkforcloudbasedcompanionsystems-2018', 'https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf', event);\">\n    A Multimodal Dialogue Framework for Cloud-Based Companion Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Matthias Kraus;  Gregor Behnke;  Pascal Bercher;  Marvin Schiller;  Susanne Biundo;  Birte Glimm;  and  Wolfgang Minker.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 9th International Workshop on Spoken Dialog Systems Technology (IWSDS 2018)</i>,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf\"\n     onclick=\"log_download('kraus-behnke-bercher-schiller-biundo-glimm-minker-amultimodaldialogueframeworkforcloudbasedcompanionsystems-2018', 'https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Multimodal Dialogue Framework for Cloud-Based Companion Systems [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kraus-behnke-bercher-schiller-biundo-glimm-minker-amultimodaldialogueframeworkforcloudbasedcompanionsystems-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kraus-behnke-bercher-schiller-biundo-glimm-minker-amultimodaldialogueframeworkforcloudbasedcompanionsystems-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Inproceedings{Kraus2018CompanionCloudDemo,\n   author    = {Kraus, Matthias and Behnke, Gregor and Pascal Bercher and Schiller, Marvin and Biundo, Susanne and Glimm, Birte and Minker, Wolfgang},\n   title     = {A Multimodal Dialogue Framework for Cloud-Based Companion Systems},\n   year      = {2018},\n   booktitle = {Proceedings of the 9th International Workshop on Spoken Dialog Systems Technology (IWSDS 2018)},\n   abstract  = {Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario.},\n   url_Paper = {https://bercher.net/publications/2018/Kraus2018CompanionCloudDemo.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hller-bercher-behnke-biundo-planandgoalrecognitionashtnplanning-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hller-bercher-behnke-biundo-planandgoalrecognitionashtnplanning-2018', 'https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf', event);\">\n    Plan and Goal Recognition as HTN Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Höller;  Pascal Bercher;  Gregor Behnke;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the AAAI 2018 Workshop on Plan, Activity, and Intent Recognition (PAIR 2018)</i>,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf\"\n     onclick=\"log_download('hller-bercher-behnke-biundo-planandgoalrecognitionashtnplanning-2018', 'https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Plan and Goal Recognition as HTN Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hller-bercher-behnke-biundo-planandgoalrecognitionashtnplanning-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hller-bercher-behnke-biundo-planandgoalrecognitionashtnplanning-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Inproceedings{Hoeller2018PlanRecognitionWorkshop,\n   title     = {Plan and Goal Recognition as HTN Planning},\n   year      = {2018},\n   booktitle = {Proceedings of the AAAI 2018 Workshop on Plan, Activity, and Intent Recognition (PAIR 2018)},\n   author    = {H{\\&quot;o}ller, Daniel and Pascal Bercher and Behnke, Gregor and Biundo, Susanne},\n   abstract  = {Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario. Plan- and Goal Recognition (PGR) is the task of inferring the goals and plans of an agent based on its actions. Traditional approaches in PGR are based on a plan library including pairs of plans and corresponding goals. In recent years, the field successfully exploited the performance of planning systems for PGR. The main benefits are the presence of efficient solvers and well-established, compact formalisms for behavior representation. However, the expressivity of the STRIPS planning models used so far is limited, and models in PGR are often structured in a hierarchical way. We present the approach Plan and Goal Recognition as HTN Planning that combines the expressive but still compact grammar-like HTN representation with the advantage of using unmodified, off-the-shelf planning systems for PGR. Our evaluation shows that -- using our approach -- current planning systems are able to handle large models with thousands of possible goals, that the approach results in high recognition rates, and that it works even when the environment is partially observable, i.e., if the observer might miss observations.},\n   url_Paper = {https://bercher.net/publications/2018/Hoeller2018aPlanRecognition.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Companion systems are cooperative, cognitive systems aiming at assisting a user in everyday situations. Therefore, these systems require a high level of availability. One option to meet this requirement is to use a web-deployable architecture. In this demo paper, we present a multimodal cloud-based dialogue framework for the development of a distributed, web-based companion system. The proposed framework is intended to provide an efficient, easily extensible, and scalable approach for this kind of systems and will be demonstrated in a do-it-yourself assistance scenario. Plan- and Goal Recognition (PGR) is the task of inferring the goals and plans of an agent based on its actions. Traditional approaches in PGR are based on a plan library including pairs of plans and corresponding goals. In recent years, the field successfully exploited the performance of planning systems for PGR. The main benefits are the presence of efficient solvers and well-established, compact formalisms for behavior representation. However, the expressivity of the STRIPS planning models used so far is limited, and models in PGR are often structured in a hierarchical way. We present the approach Plan and Goal Recognition as HTN Planning that combines the expressive but still compact grammar-like HTN representation with the advantage of using unmodified, off-the-shelf planning systems for PGR. Our evaluation shows that – using our approach – current planning systems are able to handle large models with thousands of possible goals, that the approach results in high recognition rates, and that it works even when the environment is partially observable, i.e., if the observer might miss observations.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2015\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2015')\"\n      onkeypress=\"toggleGroup('group_2015')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2015</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"behnke-bercher-biundo-glimm-ponomaryov-schiller-integratingontologiesandplanningforcognitivesystems-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'behnke-bercher-biundo-glimm-ponomaryov-schiller-integratingontologiesandplanningforcognitivesystems-2015', 'https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf', event);\">\n    Integrating Ontologies and Planning for Cognitive Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Gregor Behnke;  Pascal Bercher;  Susanne Biundo;  Birte Glimm;  Denis Ponomaryov;  and  Marvin Schiller.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 28th International Workshop on Description Logics (DL 2015)</i>,  2015. CEUR Workshop Proceedings\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf\"\n     onclick=\"log_download('behnke-bercher-biundo-glimm-ponomaryov-schiller-integratingontologiesandplanningforcognitivesystems-2015', 'https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Integrating Ontologies and Planning for Cognitive Systems [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/behnke-bercher-biundo-glimm-ponomaryov-schiller-integratingontologiesandplanningforcognitivesystems-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('behnke-bercher-biundo-glimm-ponomaryov-schiller-integratingontologiesandplanningforcognitivesystems-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Behnke2015OntologiesAndPlanning,\n  Title      = {Integrating Ontologies and Planning for Cognitive Systems},\n  Author     = {Gregor Behnke and Pascal Bercher and Susanne Biundo and Birte Glimm and Denis Ponomaryov and Marvin Schiller},\n  Booktitle  = {Proceedings of the 28th International Workshop on Description Logics ({DL} 2015)},\n  Year       = {2015},\n  Publisher  = {CEUR Workshop Proceedings},\n  abstract   = {We present an approach for integrating ontological reasoning and planning within cognitive systems. Patterns and mechanisms that suitably link planning domains and interrelated knowledge in an ontology are devised. In particular, this enables the use of (standard) ontology reasoning for extending a (hierarchical) planning domain. Furthermore, explanations of plans generated by a cognitive system benefit from additional explanations relying on background knowledge in the ontology and inference. An application of this approach in the domain of fitness training is presented.},\n  url_Paper  = {https://bercher.net/publications/2015/Behnke2015OntologiesAndPlanning.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We present an approach for integrating ontological reasoning and planning within cognitive systems. Patterns and mechanisms that suitably link planning domains and interrelated knowledge in an ontology are devised. In particular, this enables the use of (standard) ontology reasoning for extending a (hierarchical) planning domain. Furthermore, explanations of plans generated by a cognitive system benefit from additional explanations relying on background knowledge in the ontology and inference. An application of this approach in the domain of fitness training is presented.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2014\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2014')\"\n      onkeypress=\"toggleGroup('group_2014')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2014</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"hller-bercher-richter-schiller-geier-biundo-findinguserfriendlylinearizationsofpartiallyorderedplans-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hller-bercher-richter-schiller-geier-biundo-findinguserfriendlylinearizationsofpartiallyorderedplans-2014', 'https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf', event);\">\n    Finding User-friendly Linearizations of Partially Ordered Plans.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Höller;  Pascal Bercher;  Felix Richter;  Marvin Schiller;  Thomas Geier;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>28th PuK Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2014)</i>,  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf\"\n     onclick=\"log_download('hller-bercher-richter-schiller-geier-biundo-findinguserfriendlylinearizationsofpartiallyorderedplans-2014', 'https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Finding User-friendly Linearizations of Partially Ordered Plans [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2014/Hoeller2014PlanLinearizationSlides.pdf\"\n     onclick=\"log_download('hller-bercher-richter-schiller-geier-biundo-findinguserfriendlylinearizationsofpartiallyorderedplans-2014', 'https://bercher.net/publications/2014/Hoeller2014PlanLinearizationSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Finding User-friendly Linearizations of Partially Ordered Plans [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hller-bercher-richter-schiller-geier-biundo-findinguserfriendlylinearizationsofpartiallyorderedplans-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hller-bercher-richter-schiller-geier-biundo-findinguserfriendlylinearizationsofpartiallyorderedplans-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Hoeller2014PlanLinearization,\n  Title      = {Finding User-friendly Linearizations of Partially Ordered Plans},\n  Author     = {Daniel H{\\&quot;o}ller and Pascal Bercher and Felix Richter and Marvin Schiller and Thomas Geier and Susanne Biundo},\n  Booktitle  = {28th {PuK} Workshop &#x60;&#x60;Planen, Scheduling und Konfigurieren, Entwerfen&#x27;&#x27; ({PuK} 2014)},\n  Year       = {2014},\n  abstract   = {Planning models usually do not discriminate between different possible execution orders of the actions within a plan, as long as the sequence remains executable. As the formal planning problem is an abstraction of the real world, it can very well occur that one linearization is more favorable than the other for reasons not captured by the planning model --- in particular if actions are performed by a human. Post-hoc linearization of plans is thus a way to improve the quality of a plan enactment. The cost of this transformation decouples from the planning process, and it allows to incorporate knowledge that cannot be expressed within the limitations of a certain planning formalism. In this paper we discuss the idea of finding useful plan linearizations within the formalism of hybrid planning (although the basic ideas are applicable to a broader class of planning models). We propose three concrete models for plan linearization, discuss their ramifications using the application domain of automated user-assistance, and sketch out ways how to empirically validate the assumptions underlying these user-centric models.},\n  url_Paper  = {https://bercher.net/publications/2014/Hoeller2014PlanLinearization.pdf},\n  url_Slides = {https://bercher.net/publications/2014/Hoeller2014PlanLinearizationSlides.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Planning models usually do not discriminate between different possible execution orders of the actions within a plan, as long as the sequence remains executable. As the formal planning problem is an abstraction of the real world, it can very well occur that one linearization is more favorable than the other for reasons not captured by the planning model — in particular if actions are performed by a human. Post-hoc linearization of plans is thus a way to improve the quality of a plan enactment. The cost of this transformation decouples from the planning process, and it allows to incorporate knowledge that cannot be expressed within the limitations of a certain planning formalism. In this paper we discuss the idea of finding useful plan linearizations within the formalism of hybrid planning (although the basic ideas are applicable to a broader class of planning models). We propose three concrete models for plan linearization, discuss their ramifications using the application domain of automated user-assistance, and sketch out ways how to empirically validate the assumptions underlying these user-centric models.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pragst-richter-bercher-schattenberg-biundo-introducinghierarchytononhierarchicalplanningmodelsacasestudyforbehavioraladversarymodels-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pragst-richter-bercher-schattenberg-biundo-introducinghierarchytononhierarchicalplanningmodelsacasestudyforbehavioraladversarymodels-2014', 'https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf', event);\">\n    Introducing Hierarchy to Non-Hierarchical Planning Models: A Case Study for Behavioral Adversary Models.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Louisa Pragst;  Felix Richter;  Pascal Bercher;  Bernd Schattenberg;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>28th PuK Workshop ``Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2014)</i>,  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf\"\n     onclick=\"log_download('pragst-richter-bercher-schattenberg-biundo-introducinghierarchytononhierarchicalplanningmodelsacasestudyforbehavioraladversarymodels-2014', 'https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Introducing Hierarchy to Non-Hierarchical Planning Models: A Case Study for Behavioral Adversary Models [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pragst-richter-bercher-schattenberg-biundo-introducinghierarchytononhierarchicalplanningmodelsacasestudyforbehavioraladversarymodels-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pragst-richter-bercher-schattenberg-biundo-introducinghierarchytononhierarchicalplanningmodelsacasestudyforbehavioraladversarymodels-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Pragst2014CyberSecurityDomain,\n  Title      = {Introducing Hierarchy to Non-Hierarchical Planning Models: A Case Study for Behavioral Adversary Models},\n  Author     = {Louisa Pragst and Felix Richter and Pascal Bercher and Schattenberg, Bernd and Susanne Biundo},\n  Booktitle  = {28th {PuK} Workshop &#x60;&#x60;Planen, Scheduling und Konfigurieren, Entwerfen&#x27;&#x27; (PuK 2014)},\n  Year       = {2014},\n  abstract   = {Hierarchical planning approaches are often pursued when it comes to a real-world application scenario, because they allow for incorporating additional expert knowledge into the domain. That knowledge can be used both for improving plan explanations and for reducing the explored search space. In case a non-hierarchical planning model is already available, for instance because a bottom-up modeling approach was used, one has to concern oneself with the question of how to introduce a hierarchy. This paper discusses the points to consider when adding a hierarchy to a non-hierarchical planning model using the example of the BAMS Cyber Security domain.},\n  url_Paper  = {https://bercher.net/publications/2014/Pragst2014CyberSecurityDomain.pdf}\n}\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Hierarchical planning approaches are often pursued when it comes to a real-world application scenario, because they allow for incorporating additional expert knowledge into the domain. That knowledge can be used both for improving plan explanations and for reducing the explored search space. In case a non-hierarchical planning model is already available, for instance because a bottom-up modeling approach was used, one has to concern oneself with the question of how to introduce a hierarchy. This paper discusses the points to consider when adding a hierarchy to a non-hierarchical planning model using the example of the BAMS Cyber Security domain.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2013\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2013')\"\n      onkeypress=\"toggleGroup('group_2013')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2013</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bercher-biundo-encodingpartialplansforheuristicsearch-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-biundo-encodingpartialplansforheuristicsearch-2013', 'https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf', event);\">\n    Encoding Partial Plans for Heuristic Search.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 4th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2013)</i>, pages 11–15,  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf\"\n     onclick=\"log_download('bercher-biundo-encodingpartialplansforheuristicsearch-2013', 'https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Encoding Partial Plans for Heuristic Search [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2013/Bercher2013EncodingPlansSlides.pdf\"\n     onclick=\"log_download('bercher-biundo-encodingpartialplansforheuristicsearch-2013', 'https://bercher.net/publications/2013/Bercher2013EncodingPlansSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Encoding Partial Plans for Heuristic Search [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-biundo-encodingpartialplansforheuristicsearch-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-biundo-encodingpartialplansforheuristicsearch-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Bercher13EncodingPlans,\n  author    = {Pascal Bercher and Susanne Biundo},\n  title     = {Encoding Partial Plans for Heuristic Search},\n  booktitle = {Proceedings of the 4th Workshop on Knowledge Engineering for Planning and Scheduling ({KEPS} 2013)},\n  year      = {2013},\n  pages     = {11--15},\n  abstract  = {We propose a technique that allows any planning system that searches in the space of partial plans to make use of heuristics from the literature which are based on search in the space of states. The technique uses a problem encoding that reduces the problem of finding a heuristic value for a partial plan to finding a heuristic value for a state: It encodes a partial plan into a new planning problem, s.t. solutions for the new problem correspond to solutions reachable from the partial plan. Evaluating the goal distance of the partial plan then corresponds to evaluating the goal distance of the initial state in the new planning problem.},\n  url_Paper  = {https://bercher.net/publications/2013/Bercher2013EncodingPlans.pdf},\n  url_Slides = {https://bercher.net/publications/2013/Bercher2013EncodingPlansSlides.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We propose a technique that allows any planning system that searches in the space of partial plans to make use of heuristics from the literature which are based on search in the space of states. The technique uses a problem encoding that reduces the problem of finding a heuristic value for a partial plan to finding a heuristic value for a state: It encodes a partial plan into a new planning problem, s.t. solutions for the new problem correspond to solutions reachable from the partial plan. Evaluating the goal distance of the partial plan then corresponds to evaluating the goal distance of the initial state in the new planning problem.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-ginter-biundo-searchstrategiesforpartialordercausallinkplanningwithpreferences-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-ginter-biundo-searchstrategiesforpartialordercausallinkplanningwithpreferences-2013', 'https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf', event);\">\n    Search Strategies for Partial-Order Causal-Link Planning with Preferences.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Fabian Ginter;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>27th PuK Workshop ''Planen, Scheduling und Konfigurieren, Entwerfen'' (PuK 2013)</i>, pages 29–40,  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf\"\n     onclick=\"log_download('bercher-ginter-biundo-searchstrategiesforpartialordercausallinkplanningwithpreferences-2013', 'https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Search Strategies for Partial-Order Causal-Link Planning with Preferences [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2013/Bercher13POCLSoftGoalsSlides.pdf\"\n     onclick=\"log_download('bercher-ginter-biundo-searchstrategiesforpartialordercausallinkplanningwithpreferences-2013', 'https://bercher.net/publications/2013/Bercher13POCLSoftGoalsSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Search Strategies for Partial-Order Causal-Link Planning with Preferences [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-ginter-biundo-searchstrategiesforpartialordercausallinkplanningwithpreferences-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-ginter-biundo-searchstrategiesforpartialordercausallinkplanningwithpreferences-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Inproceedings{Bercher13POCLSoftGoals,\n   author    = {Pascal Bercher and Fabian Ginter and Susanne Biundo},\n   title     = {Search Strategies for Partial-Order Causal-Link Planning with Preferences},\n   year      = {2013},\n   pages     = {29--40},\n   booktitle = {27th PuK Workshop &#x27;&#x27;Planen, Scheduling und Konfigurieren, Entwerfen&#x27;&#x27; ({PuK} 2013)},\n   abstract  = {This paper studies how to solve classical planning problems with preferences by means of a partial-order causal-link (POCL) planning algorithm. Preferences are given by soft goals -- optional goals which increase a plan&#x27;s benefit if satisfied at the end of a plan. Thus, we aim at finding a plan with the best \\textit{net-benefit}, which is the difference of the achieved preferences&#x27; benefit minus the cost of all actions in the plan that achieves them. While many approaches compile soft goals away, we study how they can be addressed natively by a POCL planning system. We propose novel search and flaw selection strategies for that problem class and evaluate them empirically.},\n   url_Paper  = {https://bercher.net/publications/2013/Bercher13POCLSoftGoals.pdf},\n   url_Slides = {https://bercher.net/publications/2013/Bercher13POCLSoftGoalsSlides.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper studies how to solve classical planning problems with preferences by means of a partial-order causal-link (POCL) planning algorithm. Preferences are given by soft goals – optional goals which increase a plan's benefit if satisfied at the end of a plan. Thus, we aim at finding a plan with the best <i>net-benefit</i>, which is the difference of the achieved preferences' benefit minus the cost of all actions in the plan that achieves them. While many approaches compile soft goals away, we study how they can be addressed natively by a POCL planning system. We propose novel search and flaw selection strategies for that problem class and evaluate them empirically.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2011\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2011')\"\n      onkeypress=\"toggleGroup('group_2011')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2011</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"elkawkagy-bercher-schattenberg-biundo-landmarkawarestrategiesforhierarchicalplanning-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'elkawkagy-bercher-schattenberg-biundo-landmarkawarestrategiesforhierarchicalplanning-2011', 'https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf', event);\">\n    Landmark-Aware Strategies for Hierarchical Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mohamed Elkawkagy;  Pascal Bercher;  Bernd Schattenberg;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>Workshop on Heuristics for Domain-independent Planning (HDIP 2011)</i>, pages 73–79,  2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf\"\n     onclick=\"log_download('elkawkagy-bercher-schattenberg-biundo-landmarkawarestrategiesforhierarchicalplanning-2011', 'https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Landmark-Aware Strategies for Hierarchical Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategiesSlides.pdf\"\n     onclick=\"log_download('elkawkagy-bercher-schattenberg-biundo-landmarkawarestrategiesforhierarchicalplanning-2011', 'https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategiesSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Landmark-Aware Strategies for Hierarchical Planning [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/elkawkagy-bercher-schattenberg-biundo-landmarkawarestrategiesforhierarchicalplanning-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('elkawkagy-bercher-schattenberg-biundo-landmarkawarestrategiesforhierarchicalplanning-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Elkawkagy2011LandmarkStrategies,\n  author     = {Mohamed Elkawkagy and Pascal Bercher and Bernd Schattenberg and Susanne Biundo},\n  title      = {Landmark-Aware Strategies for Hierarchical Planning},\n  booktitle  = {Workshop on Heuristics for Domain-independent Planning ({HDIP} 2011)},\n  year       = {2011},\n  pages      = {73--79},\n  abstract   = {In hierarchical planning, landmarks are abstract tasks the decomposition of which are mandatory when trying to find a solution to a given problem. In this paper, we present novel domain-independent strategies that exploit landmark information to speed up the planning process. The empirical evaluation shows that the landmark-aware strategies outperform established search strategies for hierarchical planning.},\n  url_Paper  = {https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategies.pdf},\n  url_Slides = {https://bercher.net/publications/2011/Elkawkagy2011LandmarkStrategiesSlides.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In hierarchical planning, landmarks are abstract tasks the decomposition of which are mandatory when trying to find a solution to a given problem. In this paper, we present novel domain-independent strategies that exploit landmark information to speed up the planning process. The empirical evaluation shows that the landmark-aware strategies outperform established search strategies for hierarchical planning.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-biundo-hybridplanningwithpreferencesusingaheuristicforpartiallyorderedplans-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2011/Bercher2011Preferences.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-biundo-hybridplanningwithpreferencesusingaheuristicforpartiallyorderedplans-2011', 'https://bercher.net/publications/2011/Bercher2011Preferences.pdf', event);\">\n    Hybrid Planning with Preferences Using a Heuristic for Partially Ordered Plans.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>26th PuK Workshop \"Planen, Scheduling und Konfigurieren, Entwerfen\" (PuK 2011)</i>,  2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2011/Bercher2011Preferences.pdf\"\n     onclick=\"log_download('bercher-biundo-hybridplanningwithpreferencesusingaheuristicforpartiallyorderedplans-2011', 'https://bercher.net/publications/2011/Bercher2011Preferences.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Planning with Preferences Using a Heuristic for Partially Ordered Plans [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2011/Bercher2011PreferencesSlides.pdf\"\n     onclick=\"log_download('bercher-biundo-hybridplanningwithpreferencesusingaheuristicforpartiallyorderedplans-2011', 'https://bercher.net/publications/2011/Bercher2011PreferencesSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Planning with Preferences Using a Heuristic for Partially Ordered Plans [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-biundo-hybridplanningwithpreferencesusingaheuristicforpartiallyorderedplans-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-biundo-hybridplanningwithpreferencesusingaheuristicforpartiallyorderedplans-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{Bercher2011Preferences,\n  author    = {Pascal Bercher and Susanne Biundo},\n  title     = {Hybrid Planning with Preferences Using a Heuristic for Partially Ordered Plans},\n  booktitle = {26th {PuK} Workshop &quot;Planen, Scheduling und Konfigurieren, Entwerfen&quot; ({PuK} 2011)},\n  year      = {2011},\n  abstract  = {This paper is concerned with the problem of finding preferred plans in a hybrid planning setting, which is the fusion of classical and hierarchical planning. Here, we define preferences as weighted soft goals -- facts one would like to see satisfied in a goal state, but which do not have to hold necessarily. We present a branch-and-bound algorithm that allows a broad variety of search strategies, as opposed to the majority of existing planning systems which usually perform progression. The algorithm prunes task networks from the search space which will never lead to a better solution than the best solution found so far. To this end, we developed an admissible heuristic, based on a combination of the h^2 heuristic and delete relaxation, which takes as input a task network and estimates the best quality of any solution that can be developed from it.},\n  url_Paper  = {https://bercher.net/publications/2011/Bercher2011Preferences.pdf},\n  url_Slides = {https://bercher.net/publications/2011/Bercher2011PreferencesSlides.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper is concerned with the problem of finding preferred plans in a hybrid planning setting, which is the fusion of classical and hierarchical planning. Here, we define preferences as weighted soft goals – facts one would like to see satisfied in a goal state, but which do not have to hold necessarily. We present a branch-and-bound algorithm that allows a broad variety of search strategies, as opposed to the majority of existing planning systems which usually perform progression. The algorithm prunes task networks from the search space which will never lead to a better solution than the best solution found so far. To this end, we developed an admissible heuristic, based on a combination of the h^2 heuristic and delete relaxation, which takes as input a task network and estimates the best quality of any solution that can be developed from it.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2010\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2010')\"\n      onkeypress=\"toggleGroup('group_2010')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2010</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"elkawkagy-bercher-schattenberg-biundo-exploitinglandmarksforhybridplanning-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'elkawkagy-bercher-schattenberg-biundo-exploitinglandmarksforhybridplanning-2010', 'https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf', event);\">\n    Exploiting Landmarks for Hybrid Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mohamed Elkawkagy;  Pascal Bercher;  Bernd Schattenberg;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  In <i>25th PuK Workshop \"Planen, Scheduling und Konfigurieren, Entwerfen\" (PuK 2010)</i>,  2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf\"\n     onclick=\"log_download('elkawkagy-bercher-schattenberg-biundo-exploitinglandmarksforhybridplanning-2010', 'https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Exploiting Landmarks for Hybrid Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/elkawkagy-bercher-schattenberg-biundo-exploitinglandmarksforhybridplanning-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('elkawkagy-bercher-schattenberg-biundo-exploitinglandmarksforhybridplanning-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Elkawkagy2010LandmarksInHybrid,\n  author    = {Mohamed Elkawkagy and Pascal Bercher and Bernd Schattenberg and Susanne Biundo},\n  title     = {Exploiting Landmarks for Hybrid Planning},\n  booktitle = {25th {PuK} Workshop &quot;Planen, Scheduling und Konfigurieren, Entwerfen&quot; ({PuK} 2010)},\n  year      = {2010},\n  abstract  = {Very recently, the well-known concept of landmarks has been adapted from the classical planning setting to hierarchical planning. It was shown how a pre-processing step that extracts local landmarks from a planning domain and problem description can be used in order to prune the search space that is to be explored before the actual search is performed. This pruning technique eliminates all branches of the task decomposition tree, for which can be proven that they will never lead to a solution. In this paper, we investigate this technique in more detail and extend it by introducing search strategies which use these local landmarks in order to guide the planning process more effectively towards a solution. Our empirical evaluation shows that the pre-processing step dramatically improves performance because dead ends can be detected much earlier than without pruning and that our search strategies using the local landmarks outperform many other possible search strategies.},\n  url_Paper = {https://bercher.net/publications/2010/Elkawkagy2010LandmarksInHybrid.pdf}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Very recently, the well-known concept of landmarks has been adapted from the classical planning setting to hierarchical planning. It was shown how a pre-processing step that extracts local landmarks from a planning domain and problem description can be used in order to prune the search space that is to be explored before the actual search is performed. This pruning technique eliminates all branches of the task decomposition tree, for which can be proven that they will never lead to a solution. In this paper, we investigate this technique in more detail and extend it by introducing search strategies which use these local landmarks in order to guide the planning process more effectively towards a solution. Our empirical evaluation shows that the pre-processing step dramatically improves performance because dead ends can be detected much earlier than without pruning and that our search strategies using the local landmarks outperform many other possible search strategies.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);