Totally and Partially Ordered Hierarchical Planners in PDDL4J Library (2011.13297v1)

Abstract: In this paper, we outline the implementation of the TFD (Totally Ordered Fast Downward) and the PFD (Partially ordered Fast Downward) hierarchical planners that participated in the first HTN IPC competition in 2020. These two planners are based on forward-chaining task decomposition coupled with a compact grounding of actions, methods, tasks and HTN problems.