# Towards Numerical TOHTN Planning with SMT-based HTN-SAT Encoding

arXiv: https://arxiv.org/abs/2609.03938 · HTML: https://mlsanity.com/paper/2609.03938/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 14 references that are in the map.
- First posted on arXiv 3 Sep 2026.

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

- [Hierarchical Planning in the IPC](https://mlsanity.com/paper/1909.04405/) (2019)

## Abstract (arXiv)

While HTN planning has received significant attention in recent years, support for numerical reasoning remains very limited. In this paper, we investigate numerical Totally-Ordered HTN (TOHTN) planning and show how standard SAT-based encodings can be naturally extended with SMT to handle numeric fluents. In addition, we introduce a benchmark suite for numerical TOHTN planning, providing a first common basis for evaluation in this setting. Experimental results show that this simple encoding already constitutes a competitive baseline. This work opens the way to more expressive approaches to HTN planning.