process all st_xyz domains (admit strong solutions) AI-Planning#4

README.md

@@ -91,8 +91,13 @@ These five come from the [FOND-SAT](https://github.com/tomsons22/FOND-SAT) repo/
 - `chain-of-rooms`: from [Constructing conditional plans by a theorem-prover](https://jair.org/index.php/jair/article/view/10230/), JAIR 10 (1999), 323–352, as part of the QBFPLAN planner.
 - `earth-observation`: ([J Aldinger & J Löhr, 2013)](https://gki.informatik.uni-freiburg.de/papers/aldinger-loehr-pcd2013.pdf)
 - `puffbot-dialog`: domain generating the dialogue policy for building dialogue agents in the health-care setting. Reported in [Teixeira et. al SAC'21 paper](https://dl.acm.org/doi/10.1145/3412841.3441942) and [PhD thesis](https://iris.unitn.it/retrieve/handle/11572/361402/595412/phd_unitn_santos_teixeira_milene.pdf).
-- `st_mapfdu`: from Thorsten Engesser on planning for implicit coordination. Strong cyclic plans exist, but it's the acyclic ones that are desired.
 
+### From strong domains: `st_xyz`
+
+These are domains that were designed to admit _strong_ solutions. Strong cyclic plans exist, but it's the acyclic ones that are desired. 😉
+
+- `st_blocksworld`, `st_faults`, `st_first_responders`, `st_tiresworld`: domains from the 2008 IPC-6 FOND track that were modified to have _strong_ solutions by [Jicheng Fu et. al ICTAI'13](https://ieeexplore.ieee.org/document/6735234).
+- `st_mapfdu`: from Thorsten Engesser on planning for implicit coordination; [AAAI'20](https://doi.org/10.1609/aaai.v34i05.6204).
 
 ## Catalogue Tool
 

benchmarks/catalogue.py

@@ -209,12 +209,12 @@ def extract_instance_no(file_name):
     )
     for f in get_instances("st_mapfdu", regex=r"^p\d+.pddl")
 ]
-sttires = [
+st_tiresworld = [
     (
         "domain.pddl",
         os.path.basename(f),
     )
-    for f in get_instances("st_tires", regex=r"^p\d+.pddl")
+    for f in get_instances("st_tiresworld", regex=r"^p\d+.pddl")
 ]
 tidyup = [
     (
@@ -310,7 +310,7 @@ def extract_instance_no(file_name):
     "st_faults": st_faults,
     "st_first_responders": st_first_respondeners,
     "st_mapfdu": st_mapfdu,
-    "st_tires": sttires,
+    "st_tiresworld": st_tiresworld,
     "tidyup-mdp": tidyup,  #
     "tireworld": tireworld,  #
     "tireworld-spiky": tireworld_spiky,  #
@@ -353,7 +353,7 @@ def extract_instance_no(file_name):
         "st_faults",
         "st_first_responders",
         "st_mapfdu",
-        "st_tires",
+        "st_tiresworld",
     ],
     "interesting": ["climber", "bus-fare", "river"],
     "all": list(DOMAINS.keys()),

benchmarks/st_blocksworld/domain.pddl

@@ -1,80 +1,91 @@
 (define (domain blocks-domain)
   (:requirements :non-deterministic :negative-preconditions :equality :typing)
-  (:types block location)  
-  (:constants l0 l10 - location)
-  (:predicates 
-		(on ?bm ?bf - block)
-		(clear ?x - block)
-		(on-table ?x - block)
-		(emptyhand)
-		(holding ?b - block)
-  		(adjacent ?l1 ?l2 - location)
-		(at ?b - block ?l - location)
-		(faulty ?b - block ?l - location)
+  (:types
+    block location
   )
-
+  (:constants
+    l0 l10 - location
+  )
+  (:predicates
+    (on ?bm ?bf - block)
+    (clear ?x - block)
+    (on-table ?x - block)
+    (emptyhand)
+    (holding ?b - block)
+    (adjacent ?l1 ?l2 - location)
+    (at ?b - block ?l - location)
+    (faulty ?b - block ?l - location)
+  )
+
   (:action pick-up
-      :parameters (?b1 - block)
-      :precondition (at ?b1 l10)
-      :effect
-        (and (not (at ?b1 l10)) (oneof (holding ?b1) (and (clear ?b1) (on-table ?b1) (emptyhand) (not (holding ?b1)))))
+    :parameters (?b1 - block)
+    :precondition (at ?b1 l10)
+    :effect (and (not (at ?b1 l10)) (oneof
+        (holding ?b1)
+        (and (clear ?b1) (on-table ?b1) (emptyhand) (not (holding ?b1)))))
   )
 
   (:action pick-up-from-table
     :parameters (?b - block)
     :precondition (and (emptyhand) (clear ?b) (on-table ?b))
-    :effect (oneof (and (emptyhand) (clear ?b) (on-table ?b)) (and (holding ?b) (not (emptyhand)) (not (on-table ?b))))
+    :effect (oneof
+      (and (emptyhand) (clear ?b) (on-table ?b))
+      (and (holding ?b) (not (emptyhand)) (not (on-table ?b))))
   )
-  
+
   (:action put-on-block
     :parameters (?b1 ?b2 - block)
     :precondition (and (holding ?b1) (clear ?b2))
-    :effect (oneof (and (on ?b1 ?b2) (emptyhand) (clear ?b1) (not (holding ?b1)) (not (clear ?b2)))
-                   (and (on-table ?b1) (emptyhand) (clear ?b1) (not (holding ?b1))))
+    :effect (oneof
+      (and (on ?b1 ?b2) (emptyhand) (clear ?b1) (not (holding ?b1)) (not (clear ?b2)))
+      (and (on-table ?b1) (emptyhand) (clear ?b1) (not (holding ?b1))))
   )
-  
+
   (:action put-down
     :parameters (?b - block)
     :precondition (holding ?b)
     :effect (and (on-table ?b) (emptyhand) (clear ?b) (not (holding ?b)))
   )
-  
+
   (:action pick-tower
     :parameters (?b1 ?b2 ?b3 - block)
     :precondition (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3))
-    :effect (oneof (and (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3)))
-                   (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3)))
+    :effect (oneof
+      (and (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3)))
+      (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3)))
   )
-  
+
   (:action put-tower-on-block
     :parameters (?b1 ?b2 ?b3 - block)
     :precondition (and (holding ?b2) (on ?b1 ?b2) (clear ?b3))
-    :effect (oneof (and (on ?b2 ?b3) (emptyhand) (not (holding ?b2)) (not (clear ?b3)))
-                   (and (on-table ?b2) (emptyhand) (not (holding ?b2))))
+    :effect (oneof
+      (and (on ?b2 ?b3) (emptyhand) (not (holding ?b2)) (not (clear ?b3)))
+      (and (on-table ?b2) (emptyhand) (not (holding ?b2))))
   )
-  
+
   (:action put-tower-down
     :parameters (?b1 ?b2 - block)
     :precondition (and (holding ?b2) (on ?b1 ?b2))
     :effect (and (on-table ?b2) (emptyhand) (not (holding ?b2)))
   )
-  
+
   (:action init_pick-up
-      :parameters (?b1 ?b2 - block)
-      :precondition (and (emptyhand) (clear ?b1) (on ?b1 ?b2))
-      :effect (and (at ?b1 l0) (not (clear ?b1)) (clear ?b2) (not (emptyhand)) (not (on ?b1 ?b2)))
-   )
-
-   (:action move
-      :parameters (?b1 - block ?l1 ?l2 - location)
-      :precondition (and (at ?b1 ?l1) (adjacent ?l1 ?l2))
-      :effect (oneof (and (at ?b1 ?l2) (not (at ?b1 ?l1)))
-                     (and (faulty ?b1 ?l2) (not (at ?b1 ?l1))))
-    )
-
-   (:action fix
-      :parameters (?b - block ?l1 - location)
-      :precondition (faulty ?b ?l1)
-      :effect (and (at ?b ?l1) (not (faulty ?b ?l1)))
-   )
-)
+    :parameters (?b1 ?b2 - block)
+    :precondition (and (emptyhand) (clear ?b1) (on ?b1 ?b2))
+    :effect (and (at ?b1 l0) (not (clear ?b1)) (clear ?b2) (not (emptyhand)) (not (on ?b1 ?b2)))
+  )
+
+  (:action move
+    :parameters (?b1 - block ?l1 ?l2 - location)
+    :precondition (and (at ?b1 ?l1) (adjacent ?l1 ?l2))
+    :effect (oneof
+      (and (at ?b1 ?l2) (not (at ?b1 ?l1)))
+      (and (faulty ?b1 ?l2) (not (at ?b1 ?l1))))
+  )
+
+  (:action fix
+    :parameters (?b - block ?l1 - location)
+    :precondition (faulty ?b ?l1)
+    :effect (and (at ?b ?l1) (not (faulty ?b ?l1)))
+  )
+)