208 lines
6.0 KiB
Plaintext
208 lines
6.0 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-2.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: 38489 ground actions and 762 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 2.04 secs
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Goal: conjunctive
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Simplified: 14145 ground actions and 342 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.82 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 255 MB)
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Horizon 0: 342 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 72777 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 145212 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 217647 variables
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15 UNSAT (0 decisions 0 conflicts)
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Horizon 20: 290082 variables
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Allocated 32 MB (total 718 MB)
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Horizon 25: 362517 variables
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Allocated 32 MB permanent (total 950 MB)
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Horizon 30: 434952 variables
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Horizon 35: 507387 variables
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Horizon 40: 579822 variables
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Allocated 32 MB permanent (total 1313 MB)
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Horizon 45: 652257 variables
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Horizon 50: 724692 variables
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Allocated 32 MB permanent (total 1588 MB)
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Horizon 55: 797127 variables
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Allocated 32 MB permanent (total 1748 MB)
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Horizon 60: 869562 variables
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Horizon 65: 941997 variables
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Allocated 32 MB permanent (total 2048 MB)
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Horizon 70: 1014432 variables
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Allocated 32 MB permanent (total 2221 MB)
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Horizon 75: 1086867 variables
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Allocated 32 MB permanent (total 2398 MB)
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Horizon 80: 1159302 variables
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SAT (9 ID 613 decisions 457 conflicts 652257 variables)
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PLAN FOUND: 45 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-down(pr2,x1,y0,y1)
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STEP 3: grasp-cart-left(pr2,cart,x1,y1,x0)
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STEP 4.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
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STEP 4.1: ungrasp-cart(pr2,cart)
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STEP 5: base-right(pr2,x1,x2,y0)
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STEP 6: base-right(pr2,x2,x3,y0)
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STEP 7: base-left(pr2,x3,x2,y0)
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STEP 8: base-left(pr2,x2,x1,y0)
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STEP 9: base-right(pr2,x1,x2,y0)
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STEP 10: base-down(pr2,x2,y0,y1)
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STEP 11: base-left(pr2,x2,x1,y1)
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STEP 12.0: base-up(pr2,x1,y1,y0)
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STEP 12.1: park(pr2)
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STEP 13: unpark(pr2,xrel0,yrel0)
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STEP 14: base-right(pr2,x1,x2,y0)
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STEP 15: base-down(pr2,x2,y0,y1)
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STEP 16.0: base-left(pr2,x2,x1,y1)
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STEP 16.1: park(pr2)
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STEP 17: gripper-down(pr2,x1,y1,xrel0,x1,yrel0,yrel1,y1,y2)
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STEP 18.0: get-down(pr2,x1,y1,xrel0,x1,yrel1,y2,object2,y3)
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STEP 18.1: gripper-left(pr2,x1,y1,xrel0,xrel-1,x1,x0,yrel1,y2)
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STEP 19.0: put-right(pr2,x1,y1,xrel-1,x0,yrel1,y2,object2,x1)
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STEP 19.1: gripper-up(pr2,x1,y1,xrel-1,x0,yrel1,yrel0,y2,y1)
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STEP 20: gripper-right(pr2,x1,y1,xrel-1,xrel0,x0,x1,yrel0,y1)
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STEP 21.0: get-down(pr2,x1,y1,xrel0,x1,yrel0,y1,object2,y2)
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STEP 21.1: unpark(pr2,xrel0,yrel0)
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STEP 22: base-right(pr2,x1,x2,y1)
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STEP 23: base-down(pr2,x2,y1,y2)
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STEP 24: base-right(pr2,x2,x3,y2)
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STEP 25: base-right(pr2,x3,x4,y2)
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STEP 26: base-right(pr2,x4,x5,y2)
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STEP 27: base-right(pr2,x5,x6,y2)
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STEP 28: base-right(pr2,x6,x7,y2)
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STEP 29: base-down(pr2,x7,y2,y3)
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STEP 30: base-down(pr2,x7,y3,y4)
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STEP 31: base-left(pr2,x7,x6,y4)
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STEP 32.0: base-left(pr2,x6,x5,y4)
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STEP 32.1: park(pr2)
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STEP 33: gripper-left(pr2,x5,y4,xrel0,xrel-1,x5,x4,yrel0,y4)
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STEP 34: put-right(pr2,x5,y4,xrel-1,x4,yrel0,y4,object2,x5)
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STEP 35: finish-object(object2,x5,y4) get-down(pr2,x5,y4,xrel-1,x4,yrel0,y4,object0,y5)
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STEP 36: gripper-down(pr2,x5,y4,xrel-1,x4,yrel0,yrel1,y4,y5)
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STEP 37: put-up(pr2,x5,y4,xrel-1,x4,yrel1,y5,object0,y4)
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STEP 38: finish-object(object0,x4,y4) get-right(pr2,x5,y4,xrel-1,x4,yrel1,y5,object1,x5)
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STEP 39: gripper-right(pr2,x5,y4,xrel-1,xrel0,x4,x5,yrel1,y5)
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STEP 40: put-left(pr2,x5,y4,xrel0,x5,yrel1,y5,object1,x4)
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STEP 41.0: finish-object(object1,x4,y5) get-up(pr2,x5,y4,xrel0,x5,yrel1,y5,object3,y4)
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STEP 41.1: gripper-right(pr2,x5,y4,xrel0,xrel1,x5,x6,yrel1,y5)
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STEP 42: put-left(pr2,x5,y4,xrel1,x6,yrel1,y5,object3,x5)
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STEP 43: finish-object(object3,x5,y5)
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55 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: 13.09 # [s]
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preprocessing: 4.26 # [s]
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maxLearnedClauseLength: 44733
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groundActions:
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afterParsing: 38489
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afterPreprocessing: 14145
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stateVariables:
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afterParsing: 762
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afterPreprocessing: 342
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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: 45
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actions: 55
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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: 342
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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: 72777
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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: 145212
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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: 217647
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- horizon: 20
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result: unknown
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conflicts: 780
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decisions: 841
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variables: 290082
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- horizon: 25
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result: unknown
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conflicts: 720
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decisions: 828
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variables: 362517
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- horizon: 30
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result: unknown
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conflicts: 660
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decisions: 815
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variables: 434952
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- horizon: 35
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result: unknown
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conflicts: 600
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decisions: 816
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variables: 507387
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- horizon: 40
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result: unknown
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conflicts: 540
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decisions: 679
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variables: 579822
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- horizon: 45
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result: satisfiable
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conflicts: 457
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decisions: 613
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variables: 652257
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- horizon: 50
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result: unknown
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conflicts: 361
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decisions: 489
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variables: 724692
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- horizon: 55
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result: unknown
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conflicts: 300
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decisions: 396
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variables: 797127
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- horizon: 60
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result: unknown
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conflicts: 240
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decisions: 289
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variables: 869562
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- horizon: 65
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result: unknown
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conflicts: 180
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decisions: 208
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variables: 941997
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- horizon: 70
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result: unknown
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conflicts: 120
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decisions: 135
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variables: 1014432
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- horizon: 75
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result: unknown
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conflicts: 60
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decisions: 68
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variables: 1086867
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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: 1159302
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...
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