Transforming and Encoding FTS for SAT Solving: What Helps, What Hurts (Extended Version)

ArXi:2605.30563v1 Announce Type: new Factored tasks are a classical planning representation that extends SAS+ with limited forms of disjunctive preconditions, conditional effects, and angelic nondeterminism. This allows for a compact representation of tasks than traditional formalisms such as STRIPS or SAS+, and s a wide range of task transformations. However, existing planning approaches for factored tasks have been limited to heuristic search methods. In this work, we investigate how to encode factored tasks in