ResearchBenchmarksPlanning Domain Learning on gripper (Action traces)Follow5Intersection Size (|z ∩ x'|)SYNTH3.964.234.54.77May 18, 2026Evaluation ResultsMethodMethodLinksIntersection Size (|z ∩ x'|)Difference Size (|z \ x'|)F Metric ValueFm Metric ValueFc Metric ValueFcm Metric ValueTotal Time (s)Total Verification Time (s)Verification Percentage (%V)SYNTHPf=4, Ps=4, O=11, L=2k...Pf=4, Ps=4, O=11, L=2k, |x'|=8, Pfw=0, Psw=0, OV=12, SV=2k2026.0553———————SIFT+Pf=4, Ps=4, O=11, L=2k...Pf=4, Ps=4, O=11, L=2k, |x'|=8, Pfw=0, Psw=0, OV=12, SV=2k2026.054241428141418203100