272 lines
8.1 KiB
Plaintext
272 lines
8.1 KiB
Plaintext
Madagascar 0.99999 31/01/2018 20:14:07 amd64 1-core (no VSIDS)
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Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-12.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192
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Domain: tidybot
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Problem: test
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Parser: 53906 ground actions and 919 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 5.51 secs
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Goal: conjunctive
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Simplified: 27414 ground actions and 414 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.60 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 424 MB)
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Horizon 0: 414 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 139554 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 278694 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 417834 variables
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15 UNSAT (0 decisions 0 conflicts)
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Allocated 32 MB permanent (total 932 MB)
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Horizon 20: 556974 variables
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Allocated 32 MB (total 964 MB)
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Horizon 25: 696114 variables
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Allocated 32 MB permanent (total 1239 MB)
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Horizon 30: 835254 variables
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Allocated 32 MB permanent (total 1405 MB)
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Horizon 35: 974394 variables
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Horizon 40: 1113534 variables
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Allocated 32 MB permanent (total 1729 MB)
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Horizon 45: 1252674 variables
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Allocated 32 MB permanent (total 1920 MB)
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Horizon 50: 1391814 variables
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Allocated 32 MB permanent (total 2119 MB)
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Allocated 32 MB permanent (total 2151 MB)
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Horizon 55: 1530954 variables
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Allocated 32 MB permanent (total 2358 MB)
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Horizon 60: 1670094 variables
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Allocated 32 MB permanent (total 2573 MB)
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Horizon 65: 1809234 variables
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Allocated 32 MB permanent (total 2797 MB)
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Allocated 32 MB permanent (total 2829 MB)
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Horizon 70: 1948374 variables
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Allocated 32 MB permanent (total 3061 MB)
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Horizon 75: 2087514 variables
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Allocated 32 MB permanent (total 3301 MB)
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Allocated 32 MB permanent (total 3333 MB)
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Horizon 80: 2226654 variables
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Allocated 32 MB (total 3365 MB)
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Allocated 32 MB permanent (total 3613 MB)
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Allocated 32 MB permanent (total 3645 MB)
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Horizon 85: 2365794 variables
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Allocated 32 MB permanent (total 3901 MB)
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Allocated 32 MB permanent (total 3933 MB)
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Horizon 90: 2504934 variables
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Allocated 32 MB permanent (total 4198 MB)
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Allocated 32 MB permanent (total 4230 MB)
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Horizon 95: 2644074 variables
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Allocated 32 MB permanent (total 4503 MB)
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Allocated 32 MB permanent (total 4535 MB)
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Horizon 100: 2783214 variables
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SAT (13 ID 670 decisions 451 conflicts 1809234 variables)
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PLAN FOUND: 65 steps
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STEP 0: unpark(pr2,xrel0,yrel0)
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STEP 1: base-right(pr2,x0,x1,y0)
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STEP 2: base-right(pr2,x1,x2,y0)
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STEP 3: base-right(pr2,x2,x3,y0)
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STEP 4: base-right(pr2,x3,x4,y0)
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STEP 5: base-left(pr2,x4,x3,y0)
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STEP 6: base-left(pr2,x3,x2,y0)
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STEP 7.0: base-down(pr2,x2,y0,y1)
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STEP 7.1: park(pr2)
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STEP 8.0: get-right(pr2,x2,y1,xrel0,x2,yrel0,y1,object3,x3)
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STEP 8.1: gripper-up(pr2,x2,y1,xrel0,x2,yrel0,yrel-1,y1,y0)
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STEP 9: gripper-right(pr2,x2,y1,xrel0,xrel1,x2,x3,yrel-1,y0)
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STEP 10: gripper-left(pr2,x2,y1,xrel1,xrel0,x3,x2,yrel-1,y0)
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STEP 11: gripper-down(pr2,x2,y1,xrel0,x2,yrel-1,yrel0,y0,y1)
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STEP 12: unpark(pr2,xrel0,yrel0)
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STEP 13: base-down(pr2,x2,y1,y2)
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STEP 14.0: base-left(pr2,x2,x1,y2)
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STEP 14.1: park(pr2)
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STEP 15: gripper-up(pr2,x1,y2,xrel0,x1,yrel0,yrel-1,y2,y1)
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STEP 16: gripper-down(pr2,x1,y2,xrel0,x1,yrel-1,yrel0,y1,y2)
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STEP 17: unpark(pr2,xrel0,yrel0)
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STEP 18: base-down(pr2,x1,y2,y3)
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STEP 19: base-down(pr2,x1,y3,y4)
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STEP 20: base-down(pr2,x1,y4,y5)
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STEP 21: base-down(pr2,x1,y5,y6)
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STEP 22: base-down(pr2,x1,y6,y7)
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STEP 23: base-right(pr2,x1,x2,y7)
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STEP 24.0: base-right(pr2,x2,x3,y7)
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STEP 24.1: park(pr2)
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STEP 25: gripper-up(pr2,x3,y7,xrel0,x3,yrel0,yrel-1,y7,y6)
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STEP 26.0: put-up(pr2,x3,y7,xrel0,x3,yrel-1,y6,object3,y5)
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STEP 26.1: gripper-down(pr2,x3,y7,xrel0,x3,yrel-1,yrel0,y6,y7)
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STEP 27: unpark(pr2,xrel0,yrel0)
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STEP 28.0: base-down(pr2,x3,y7,y8)
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STEP 28.1: park(pr2)
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STEP 29: gripper-right(pr2,x3,y8,xrel0,xrel1,x3,x4,yrel0,y8)
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STEP 30: gripper-left(pr2,x3,y8,xrel1,xrel0,x4,x3,yrel0,y8)
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STEP 31: unpark(pr2,xrel0,yrel0)
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STEP 32: base-down(pr2,x3,y8,y9)
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STEP 33: base-up(pr2,x3,y9,y8)
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STEP 34: base-up(pr2,x3,y8,y7)
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STEP 35: base-up(pr2,x3,y7,y6)
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STEP 36.0: base-up(pr2,x3,y6,y5)
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STEP 36.1: park(pr2)
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STEP 37.0: get-up(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y4)
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STEP 37.1: gripper-right(pr2,x3,y5,xrel0,xrel1,x3,x4,yrel0,y5)
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STEP 38: put-left(pr2,x3,y5,xrel1,x4,yrel0,y5,object1,x3)
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STEP 39: finish-object(object1,x3,y5) get-up(pr2,x3,y5,xrel1,x4,yrel0,y5,object0,y4)
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STEP 40: gripper-up(pr2,x3,y5,xrel1,x4,yrel0,yrel-1,y5,y4)
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STEP 41: put-left(pr2,x3,y5,xrel1,x4,yrel-1,y4,object0,x3)
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STEP 42: finish-object(object0,x3,y4) gripper-down(pr2,x3,y5,xrel1,x4,yrel-1,yrel0,y4,y5)
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STEP 43: get-left(pr2,x3,y5,xrel1,x4,yrel0,y5,object3,x3)
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STEP 44: gripper-left(pr2,x3,y5,xrel1,xrel0,x4,x3,yrel0,y5)
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STEP 45.0: put-right(pr2,x3,y5,xrel0,x3,yrel0,y5,object3,x4)
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STEP 45.1: unpark(pr2,xrel0,yrel0)
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STEP 46: base-down(pr2,x3,y5,y6) finish-object(object3,x4,y5)
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STEP 47: base-right(pr2,x3,x4,y6)
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STEP 48: base-down(pr2,x4,y6,y7)
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STEP 49: base-right(pr2,x4,x5,y7)
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STEP 50: base-right(pr2,x5,x6,y7)
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STEP 51: base-up(pr2,x6,y7,y6)
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STEP 52: base-up(pr2,x6,y6,y5)
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STEP 53: base-up(pr2,x6,y5,y4)
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STEP 54: base-up(pr2,x6,y4,y3)
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STEP 55.0: base-up(pr2,x6,y3,y2)
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STEP 55.1: park(pr2)
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STEP 56: gripper-left(pr2,x6,y2,xrel0,xrel-1,x6,x5,yrel0,y2)
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STEP 57.0: get-up(pr2,x6,y2,xrel-1,x5,yrel0,y2,object2,y1)
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STEP 57.1: gripper-right(pr2,x6,y2,xrel-1,xrel0,x5,x6,yrel0,y2)
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STEP 58: unpark(pr2,xrel0,yrel0)
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STEP 59: base-left(pr2,x6,x5,y2)
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STEP 60.0: base-left(pr2,x5,x4,y2)
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STEP 60.1: park(pr2)
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STEP 61: gripper-left(pr2,x4,y2,xrel0,xrel-1,x4,x3,yrel0,y2)
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STEP 62: put-up(pr2,x4,y2,xrel-1,x3,yrel0,y2,object2,y1)
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STEP 63: finish-object(object2,x3,y1)
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79 actions in the plan.
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# statistics in YAML format
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---
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runtime:
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total: 41.98 # [s]
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preprocessing: 13.01 # [s]
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maxLearnedClauseLength: 123877
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groundActions:
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afterParsing: 53906
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afterPreprocessing: 27414
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stateVariables:
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afterParsing: 919
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afterPreprocessing: 414
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stronglyConnectedComponents:
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maxSize: 10
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plan:
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found: true
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length: 65
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actions: 79
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iterations:
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- horizon: 0
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 414
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- horizon: 5
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 139554
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- horizon: 10
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 278694
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- horizon: 15
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 417834
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- horizon: 20
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result: unknown
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conflicts: 1024
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decisions: 1136
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variables: 556974
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- horizon: 25
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result: unknown
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conflicts: 960
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decisions: 1089
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variables: 696114
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- horizon: 30
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result: unknown
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conflicts: 903
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decisions: 1096
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variables: 835254
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- horizon: 35
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result: unknown
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conflicts: 780
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decisions: 1017
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variables: 974394
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- horizon: 40
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result: unknown
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conflicts: 720
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decisions: 977
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variables: 1113534
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- horizon: 45
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result: unknown
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conflicts: 660
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decisions: 908
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variables: 1252674
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- horizon: 50
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result: unknown
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conflicts: 601
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decisions: 805
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variables: 1391814
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- horizon: 55
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result: unknown
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conflicts: 541
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decisions: 761
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variables: 1530954
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- horizon: 60
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result: unknown
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conflicts: 481
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decisions: 698
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variables: 1670094
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- horizon: 65
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result: satisfiable
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conflicts: 451
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decisions: 670
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variables: 1809234
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- horizon: 70
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result: unknown
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conflicts: 360
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decisions: 501
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variables: 1948374
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- horizon: 75
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result: unknown
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conflicts: 300
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decisions: 452
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variables: 2087514
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- horizon: 80
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result: unknown
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conflicts: 240
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decisions: 317
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variables: 2226654
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- horizon: 85
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result: unknown
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conflicts: 180
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decisions: 267
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variables: 2365794
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- horizon: 90
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result: unknown
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conflicts: 120
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decisions: 149
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variables: 2504934
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- horizon: 95
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result: unknown
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conflicts: 60
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decisions: 70
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variables: 2644074
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- horizon: 100
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result: unknown
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conflicts: 0
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decisions: 0
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variables: 2783214
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...
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