234 lines
7.3 KiB
Plaintext
234 lines
7.3 KiB
Plaintext
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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-10.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: 54878 ground actions and 926 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 18 5.08 secs
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Goal: conjunctive
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Simplified: 21539 ground actions and 419 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.26 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 347 MB)
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Horizon 0: 419 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 110209 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 219999 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 329789 variables
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15 UNSAT (0 decisions 0 conflicts)
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Horizon 20: 439579 variables
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Allocated 32 MB (total 835 MB)
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Allocated 32 MB permanent (total 976 MB)
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Horizon 25: 549369 variables
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Horizon 30: 659159 variables
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Allocated 32 MB permanent (total 1245 MB)
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Horizon 35: 768949 variables
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Horizon 40: 878739 variables
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Allocated 32 MB permanent (total 1540 MB)
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Horizon 45: 988529 variables
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Allocated 32 MB permanent (total 1714 MB)
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Horizon 50: 1098319 variables
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Allocated 32 MB permanent (total 1893 MB)
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Horizon 55: 1208109 variables
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Allocated 32 MB permanent (total 2080 MB)
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Horizon 60: 1317899 variables
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Allocated 32 MB permanent (total 2272 MB)
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Horizon 65: 1427689 variables
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Allocated 32 MB permanent (total 2472 MB)
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Horizon 70: 1537479 variables
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Allocated 32 MB permanent (total 2677 MB)
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Horizon 75: 1647269 variables
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Allocated 32 MB permanent (total 2890 MB)
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Allocated 32 MB permanent (total 2922 MB)
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Horizon 80: 1757059 variables
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SAT (12 ID 407 decisions 251 conflicts 1317899 variables)
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PLAN FOUND: 60 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-right(pr2,x4,x5,y0)
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STEP 6: base-right(pr2,x5,x6,y0)
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STEP 7.0: base-down(pr2,x6,y0,y1)
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STEP 7.1: park(pr2)
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STEP 8.0: get-left(pr2,x6,y1,xrel0,x6,yrel0,y1,object3,x5)
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STEP 8.1: gripper-up(pr2,x6,y1,xrel0,x6,yrel0,yrel-1,y1,y0)
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STEP 9: gripper-left(pr2,x6,y1,xrel0,xrel-1,x6,x5,yrel-1,y0)
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STEP 10: gripper-down(pr2,x6,y1,xrel-1,x5,yrel-1,yrel0,y0,y1)
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STEP 11.0: put-left(pr2,x6,y1,xrel-1,x5,yrel0,y1,object3,x4)
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STEP 11.1: gripper-right(pr2,x6,y1,xrel-1,xrel0,x5,x6,yrel0,y1)
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STEP 12: unpark(pr2,xrel0,yrel0)
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STEP 13: base-down(pr2,x6,y1,y2)
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STEP 14: base-down(pr2,x6,y2,y3)
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STEP 15: base-down(pr2,x6,y3,y4)
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STEP 16.0: base-down(pr2,x6,y4,y5)
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STEP 16.1: park(pr2)
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STEP 17: gripper-down(pr2,x6,y5,xrel0,x6,yrel0,yrel1,y5,y6)
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STEP 18: gripper-up(pr2,x6,y5,xrel0,x6,yrel1,yrel0,y6,y5)
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STEP 19: unpark(pr2,xrel0,yrel0)
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STEP 20: base-left(pr2,x6,x5,y5)
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STEP 21.0: base-down(pr2,x5,y5,y6)
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STEP 21.1: park(pr2)
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STEP 22: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
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STEP 23.0: get-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object0,x3)
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STEP 23.1: gripper-up(pr2,x5,y6,xrel-1,x4,yrel0,yrel-1,y6,y5)
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STEP 24.0: put-left(pr2,x5,y6,xrel-1,x4,yrel-1,y5,object0,x3)
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STEP 24.1: gripper-down(pr2,x5,y6,xrel-1,x4,yrel-1,yrel0,y5,y6)
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STEP 25: finish-object(object0,x3,y5) gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
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STEP 26: gripper-right(pr2,x5,y6,xrel0,xrel1,x5,x6,yrel0,y6)
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STEP 27.0: get-right(pr2,x5,y6,xrel1,x6,yrel0,y6,object1,x7)
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STEP 27.1: gripper-left(pr2,x5,y6,xrel1,xrel0,x6,x5,yrel0,y6)
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STEP 28: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
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STEP 29.0: put-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object1,x3)
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STEP 29.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
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STEP 30: finish-object(object1,x3,y6) unpark(pr2,xrel0,yrel0)
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STEP 31: base-up(pr2,x5,y6,y5)
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STEP 32: base-right(pr2,x5,x6,y5)
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STEP 33: base-up(pr2,x6,y5,y4)
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STEP 34.0: base-up(pr2,x6,y4,y3)
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STEP 34.1: park(pr2)
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STEP 35: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
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STEP 36: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel0,y3)
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STEP 37: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
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STEP 38: gripper-up(pr2,x6,y3,xrel-1,x5,yrel0,yrel-1,y3,y2)
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STEP 39.0: get-left(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object2,x4)
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STEP 39.1: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel-1,y2)
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STEP 40: gripper-down(pr2,x6,y3,xrel0,x6,yrel-1,yrel0,y2,y3)
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STEP 41: unpark(pr2,xrel0,yrel0)
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STEP 42: base-down(pr2,x6,y3,y4)
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STEP 43.0: base-down(pr2,x6,y4,y5)
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STEP 43.1: park(pr2)
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STEP 44: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
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STEP 45.0: put-left(pr2,x6,y5,xrel-1,x5,yrel0,y5,object2,x4)
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STEP 45.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel0,y5)
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STEP 46: finish-object(object2,x4,y5) unpark(pr2,xrel0,yrel0)
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STEP 47.0: base-down(pr2,x6,y5,y6)
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STEP 47.1: park(pr2)
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STEP 48: unpark(pr2,xrel0,yrel0)
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STEP 49: base-up(pr2,x6,y6,y5)
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STEP 50: base-up(pr2,x6,y5,y4)
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STEP 51: base-up(pr2,x6,y4,y3)
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STEP 52: base-left(pr2,x6,x5,y3)
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STEP 53.0: base-left(pr2,x5,x4,y3)
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STEP 53.1: park(pr2)
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STEP 54: gripper-up(pr2,x4,y3,xrel0,x4,yrel0,yrel-1,y3,y2)
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STEP 55.0: get-up(pr2,x4,y3,xrel0,x4,yrel-1,y2,object3,y1)
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STEP 55.1: gripper-left(pr2,x4,y3,xrel0,xrel-1,x4,x3,yrel-1,y2)
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STEP 56: put-right(pr2,x4,y3,xrel-1,x3,yrel-1,y2,object3,x4)
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STEP 57: finish-object(object3,x4,y2)
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77 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: 21.86 # [s]
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preprocessing: 10.01 # [s]
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maxLearnedClauseLength: 72981
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groundActions:
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afterParsing: 54878
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afterPreprocessing: 21539
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stateVariables:
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afterParsing: 926
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afterPreprocessing: 419
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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: 60
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actions: 77
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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: 419
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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: 110209
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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: 219999
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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: 329789
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- horizon: 20
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result: unknown
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conflicts: 782
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decisions: 860
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variables: 439579
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- horizon: 25
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result: unknown
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conflicts: 722
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decisions: 891
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variables: 549369
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- horizon: 30
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result: unknown
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conflicts: 660
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decisions: 944
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variables: 659159
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- horizon: 35
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result: unknown
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conflicts: 600
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decisions: 740
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variables: 768949
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- horizon: 40
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result: unknown
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conflicts: 540
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decisions: 731
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variables: 878739
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- horizon: 45
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result: unknown
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conflicts: 481
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decisions: 700
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variables: 988529
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- horizon: 50
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result: unknown
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conflicts: 421
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decisions: 633
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variables: 1098319
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- horizon: 55
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result: unknown
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conflicts: 360
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decisions: 503
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variables: 1208109
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- horizon: 60
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result: satisfiable
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conflicts: 251
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decisions: 407
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variables: 1317899
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- horizon: 65
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result: unknown
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conflicts: 180
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decisions: 242
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variables: 1427689
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- horizon: 70
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result: unknown
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conflicts: 120
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decisions: 127
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variables: 1537479
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- horizon: 75
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result: unknown
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conflicts: 60
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decisions: 61
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variables: 1647269
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- horizon: 80
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result: unknown
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conflicts: 0
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decisions: 0
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variables: 1757059
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...
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