When both Grounding and not Grounding are Bad -- A Partially Grounded Encoding of Planning into SAT (Extended Version)

ArXi:2603.19429v1 Announce Type: new Classical planning problems are typically defined using lifted first-order representations, which offer compactness and generality. While most planners ground these representations to simplify reasoning, this can cause an exponential blowup in size. Recent approaches instead operate directly on the lifted level to avoid full grounding. We explore a middle ground between fully lifted and fully grounded planning by