Compiling Temporal Numeric Planning into Discrete PDDL+: Extended Version

arXiv cs.AI / 3/13/2026

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Key Points

The paper presents a practical compilation from temporal planning with durative actions into PDDL+, preserving semantic fidelity under the non-self-overlapping actions assumption.
The compilation runs in polynomial time and preserves the plan length up to a constant factor, enabling scalable translation of temporal plans to PDDL+.
Experimental results demonstrate the approach is practically relevant for hard temporal numeric planning problems.
This work extends the usefulness of PDDL+ by bridging temporal numeric planning with discrete planning representations, with potential impact on planning tools and research directions.

Abstract

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.