208 lines
6.5 KiB
Plaintext
208 lines
6.5 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-15.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: 54482 ground actions and 923 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 6.00 secs
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Goal: conjunctive
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Simplified: 24195 ground actions and 416 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 5.25 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 380 MB)
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Horizon 0: 416 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 123471 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 246526 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 369581 variables
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15 UNSAT (0 decisions 0 conflicts)
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Horizon 20: 492636 variables
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Allocated 32 MB (total 877 MB)
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Allocated 32 MB permanent (total 1022 MB)
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Horizon 25: 615691 variables
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Horizon 30: 738746 variables
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Allocated 32 MB permanent (total 1301 MB)
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Horizon 35: 861801 variables
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20 UNSAT (228 decisions 211 conflicts)
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Allocated 32 MB permanent (total 1468 MB)
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Horizon 40: 984856 variables
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Allocated 32 MB permanent (total 1642 MB)
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Horizon 45: 1107911 variables
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Allocated 32 MB permanent (total 1823 MB)
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Horizon 50: 1230966 variables
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Allocated 32 MB permanent (total 2011 MB)
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Horizon 55: 1354021 variables
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Allocated 32 MB permanent (total 2207 MB)
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Horizon 60: 1477076 variables
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Allocated 32 MB permanent (total 2410 MB)
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Horizon 65: 1600131 variables
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SAT (12 ID 143 decisions 84 conflicts 1477076 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: base-right(pr2,x6,x7,y0)
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STEP 8: base-left(pr2,x7,x6,y0)
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STEP 9: base-down(pr2,x6,y0,y1)
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STEP 10: base-left(pr2,x6,x5,y1)
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STEP 11: base-down(pr2,x5,y1,y2)
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STEP 12: base-up(pr2,x5,y2,y1)
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STEP 13: base-down(pr2,x5,y1,y2)
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STEP 14: base-down(pr2,x5,y2,y3)
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STEP 15: base-down(pr2,x5,y3,y4)
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STEP 16: base-down(pr2,x5,y4,y5)
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STEP 17.0: base-left(pr2,x5,x4,y5)
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STEP 17.1: park(pr2)
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STEP 18.0: get-down(pr2,x4,y5,xrel0,x4,yrel0,y5,object0,y6)
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STEP 18.1: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5)
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STEP 19: gripper-up(pr2,x4,y5,xrel-1,x3,yrel0,yrel-1,y5,y4)
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STEP 20.0: put-up(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object0,y3)
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STEP 20.1: gripper-down(pr2,x4,y5,xrel-1,x3,yrel-1,yrel0,y4,y5)
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STEP 21: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5)
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STEP 22: unpark(pr2,xrel0,yrel0)
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STEP 23: base-left(pr2,x4,x3,y5)
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STEP 24: base-up(pr2,x3,y5,y4)
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STEP 25: base-up(pr2,x3,y4,y3)
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STEP 26.0: base-left(pr2,x3,x2,y3)
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STEP 26.1: park(pr2)
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STEP 27.0: get-up(pr2,x2,y3,xrel0,x2,yrel0,y3,object1,y2)
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STEP 27.1: unpark(pr2,xrel0,yrel0)
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STEP 28.0: base-right(pr2,x2,x3,y3)
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STEP 28.1: park(pr2)
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STEP 29: gripper-up(pr2,x3,y3,xrel0,x3,yrel0,yrel-1,y3,y2)
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STEP 30: put-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object1,y3)
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STEP 31: get-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,y3)
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STEP 32: put-left(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,x2)
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STEP 33: finish-object(object0,x2,y2) gripper-down(pr2,x3,y3,xrel0,x3,yrel-1,yrel0,y2,y3)
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STEP 34: get-left(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,x2)
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STEP 35.0: put-up(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,y2)
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STEP 35.1: gripper-down(pr2,x3,y3,xrel0,x3,yrel0,yrel1,y3,y4)
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STEP 36.0: finish-object(object2,x3,y2) get-up(pr2,x3,y3,xrel0,x3,yrel1,y4,object1,y3)
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STEP 36.1: gripper-left(pr2,x3,y3,xrel0,xrel-1,x3,x2,yrel1,y4)
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STEP 37.0: put-up(pr2,x3,y3,xrel-1,x2,yrel1,y4,object1,y3)
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STEP 37.1: gripper-right(pr2,x3,y3,xrel-1,xrel0,x2,x3,yrel1,y4)
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STEP 38: finish-object(object1,x2,y3) gripper-up(pr2,x3,y3,xrel0,x3,yrel1,yrel0,y4,y3)
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STEP 39: unpark(pr2,xrel0,yrel0)
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STEP 40: base-down(pr2,x3,y3,y4)
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STEP 41.0: base-down(pr2,x3,y4,y5)
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STEP 41.1: park(pr2)
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STEP 42: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
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STEP 43: gripper-down(pr2,x3,y5,xrel-1,x2,yrel0,yrel1,y5,y6)
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STEP 44.0: get-left(pr2,x3,y5,xrel-1,x2,yrel1,y6,object3,x1)
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STEP 44.1: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel1,y6)
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STEP 45: gripper-right(pr2,x3,y5,xrel0,xrel1,x3,x4,yrel1,y6)
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STEP 46: gripper-left(pr2,x3,y5,xrel1,xrel0,x4,x3,yrel1,y6)
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STEP 47: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
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STEP 48: gripper-down(pr2,x3,y5,xrel0,x3,yrel0,yrel1,y5,y6)
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STEP 49: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
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STEP 50: unpark(pr2,xrel0,yrel0)
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STEP 51: base-down(pr2,x3,y5,y6)
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STEP 52.0: base-down(pr2,x3,y6,y7)
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STEP 52.1: park(pr2)
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STEP 53: gripper-right(pr2,x3,y7,xrel0,xrel1,x3,x4,yrel0,y7)
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STEP 54: put-right(pr2,x3,y7,xrel1,x4,yrel0,y7,object3,x5)
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STEP 55: finish-object(object3,x5,y7)
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71 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: 18.70 # [s]
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preprocessing: 12.04 # [s]
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maxLearnedClauseLength: 102412
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groundActions:
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afterParsing: 54482
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afterPreprocessing: 24195
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stateVariables:
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afterParsing: 923
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afterPreprocessing: 416
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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: 71
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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: 416
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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: 123471
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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: 246526
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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: 369581
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- horizon: 20
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result: unsatisfiable
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conflicts: 211
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decisions: 228
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variables: 492636
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- horizon: 25
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result: unknown
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conflicts: 542
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decisions: 660
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variables: 615691
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- horizon: 30
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result: unknown
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conflicts: 480
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decisions: 593
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variables: 738746
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- horizon: 35
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result: unknown
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conflicts: 420
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decisions: 570
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variables: 861801
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- horizon: 40
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result: unknown
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conflicts: 360
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decisions: 491
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variables: 984856
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- horizon: 45
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result: unknown
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conflicts: 301
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decisions: 438
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variables: 1107911
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- horizon: 50
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result: unknown
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conflicts: 240
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decisions: 343
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variables: 1230966
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- horizon: 55
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result: unknown
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conflicts: 182
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decisions: 265
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variables: 1354021
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- horizon: 60
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result: satisfiable
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conflicts: 84
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decisions: 143
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variables: 1477076
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- horizon: 65
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result: unknown
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conflicts: 0
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decisions: 0
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variables: 1600131
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...
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