# Compiling Temporal Numeric Planning into Discrete PDDL+: Extended Version

arXiv: https://arxiv.org/abs/2603.12188 · HTML: https://mlsanity.com/paper/2603.12188/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 13 references that are in the map.
- First posted on arXiv 12 Mar 2026.

## Builds on (most cited first, 1 of 1)

- [Temporal Planning with Intermediate Conditions and Effects](https://mlsanity.com/paper/1909.11581/) (2019)

## Abstract (arXiv)

Since the introduction of the PDDL+ modeling language, it was known that temporal planning with durative actions (as in PDDL 2.1) could be compiled into PDDL+. However, no practical compilation was presented in the literature ever since. We present a practical compilation from temporal planning with durative actions into PDDL+, fully capturing the semantics and only assuming the non-self-overlapping of actions. Our compilation is polynomial, retains the plan length up to a constant factor and is experimentally shown to be of practical relevance for hard temporal numeric problems.