clean-up and document blocksworld domains - AI-Planning#4

README.md

@@ -55,16 +55,16 @@ A description of the above domains can be found in 2008 Bryce & Buffet's [Intern
 
 ## PRP (2012)
 
-The [2012 PRP paper](https://cdn.aaai.org/ojs/13520/13520-40-17038-1-2-20201228.pdf) used all the four final IPC-6 FOND track domains and probabilistic interesting ones, plus the following ones.
+The [2012 PRP paper](https://cdn.aaai.org/ojs/13520/13520-40-17038-1-2-20201228.pdf) used all the four final 2008 IPC-6 FOND track domains and probabilistic interesting ones, plus the following ones.
 
 First, the `blocksworld` and `forest` domains were extended as follows:
 
-- `blocksworld-new`: scaled the number of blocks from 1 to 50 (the highest number of blocks in the original benchmark set is 20)
+- `blocksworld-new`: scaled the number of blocks from 1 to 50 (the highest number of blocks in the original benchmark set is 20).
 - `forest-new`: generator slightly to guarantee that every problem has a strong cyclic plan.
 
 Second, the PRP paper modified three domains from [**2006 IPC5 Probabilistic Track**](https://ipc06.icaps-conference.org/probabilistic/) by stripping the probabilities and replacing them with non-deterministic `oneof` constructs:
 
-- `blocksworld-2`
+- `blocksworld-2`: same domain as the IPC-6 `blocksworld` but with 15 instances coming from the probabilistic track.
 - `elevators`
 - `zenotravel`
 

benchmarks/blocksworld-2/domain.pddl

@@ -1,25 +1,38 @@
+; FOND version of probabilistic version from IPC 2008
+; [**2006 IPC5 Probabilistic Track**](https://ipc06.icaps-conference.org/probabilistic/)
+; e.g., some actions may fail and have no effect; some may drop the block to the table
 (define (domain blocks-domain)
   (:requirements :non-deterministic :equality :typing)
-  (:types block)
-  (:predicates (holding ?b - block) (emptyhand) (on-table ?b - block) (on ?b1 ?b2 - block) (clear ?b - block))
+  (:types
+    block
+  )
+  (:predicates
+    (holding ?b - block)
+    (emptyhand)
+    (on-table ?b - block)
+    (on ?b1 ?b2 - block)
+    (clear ?b - block)
+  )
   (:action pick-up
     :parameters (?b1 ?b2 - block)
     :precondition (and (not (= ?b1 ?b2)) (emptyhand) (clear ?b1) (on ?b1 ?b2))
-    :effect
-      (oneof 
-        (and (holding ?b1) (clear ?b2) (not (emptyhand)) (not (clear ?b1)) (not (on ?b1 ?b2)))
-        (and (clear ?b2) (on-table ?b1) (not (on ?b1 ?b2))))
+    :effect (oneof
+      (and (holding ?b1) (clear ?b2) (not (emptyhand)) (not (clear ?b1)) (not (on ?b1 ?b2)))
+      (and (clear ?b2) (on-table ?b1) (not (on ?b1 ?b2))))
   )
   (:action pick-up-from-table
     :parameters (?b - block)
     :precondition (and (emptyhand) (clear ?b) (on-table ?b))
-    :effect (oneof (and) (and (holding ?b) (not (emptyhand)) (not (on-table ?b))))
+    :effect (oneof
+      (and)
+      (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)
@@ -29,18 +42,20 @@
   (:action pick-tower
     :parameters (?b1 ?b2 ?b3 - block)
     :precondition (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3))
-    :effect
-      (oneof (and) (and (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3))))
+    :effect (oneof
+      (and)
+      (and (holding ?b2) (clear ?b3) (not (emptyhand)) (not (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)))
   )
-)
+)

benchmarks/blocksworld-new/domain.pddl

@@ -1,25 +1,37 @@
+;; Same as 2008 IPC-6 FOND version of blocksworld but larger: scaled 1-50
+;; https://ipc08.icaps-conference.org/probabilistic/wiki/index.php/Results.html#Fully_Observable_Non-Deterministic_.28FOND.29_track
 (define (domain blocks-domain)
   (:requirements :non-deterministic :equality :typing)
-  (:types block)
-  (:predicates (holding ?b - block) (emptyhand) (on-table ?b - block) (on ?b1 ?b2 - block) (clear ?b - block))
+  (:types
+    block
+  )
+  (:predicates
+    (holding ?b - block)
+    (emptyhand)
+    (on-table ?b - block)
+    (on ?b1 ?b2 - block)
+    (clear ?b - block)
+  )
   (:action pick-up
     :parameters (?b1 ?b2 - block)
     :precondition (and (not (= ?b1 ?b2)) (emptyhand) (clear ?b1) (on ?b1 ?b2))
-    :effect
-      (oneof 
-        (and (holding ?b1) (clear ?b2) (not (emptyhand)) (not (clear ?b1)) (not (on ?b1 ?b2)))
-        (and (clear ?b2) (on-table ?b1) (not (on ?b1 ?b2))))
+    :effect (oneof
+      (and (holding ?b1) (clear ?b2) (not (emptyhand)) (not (clear ?b1)) (not (on ?b1 ?b2)))
+      (and (clear ?b2) (on-table ?b1) (not (on ?b1 ?b2))))
   )
   (:action pick-up-from-table
     :parameters (?b - block)
     :precondition (and (emptyhand) (clear ?b) (on-table ?b))
-    :effect (oneof (and) (and (holding ?b) (not (emptyhand)) (not (on-table ?b))))
+    :effect (oneof
+      (and)
+      (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)
@@ -29,18 +41,20 @@
   (:action pick-tower
     :parameters (?b1 ?b2 ?b3 - block)
     :precondition (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3))
-    :effect
-      (oneof (and) (and (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3))))
+    :effect (oneof
+      (and)
+      (and (holding ?b2) (clear ?b3) (not (emptyhand)) (not (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)))
   )
-)
+)

benchmarks/blocksworld/domain-fixed.pddl

@@ -1,57 +1,73 @@
 (define (domain blocks-domain)
 
   (:requirements :non-deterministic :negative-preconditions :equality :typing)
-
-  (:types block)
-
-  (:predicates (holding-one) (holding-two) (holding ?b - block) (emptyhand) (on-table ?b - block) (on ?b1 ?b2 - block) (clear ?b - block))
-
+
+  (:types
+    block
+  )
+
+  (:predicates
+    (holding-one)
+    (holding-two)
+    (holding ?b - block)
+    (emptyhand)
+    (on-table ?b - block)
+    (on ?b1 ?b2 - block)
+    (clear ?b - block)
+  )
+
   (:action pick-up
     :parameters (?b1 ?b2 - block)
     :precondition (and (not (= ?b1 ?b2)) (emptyhand) (clear ?b1) (on ?b1 ?b2))
     :effect (and (clear ?b2) (not (on ?b1 ?b2))
-             (oneof (and (holding-one) (holding ?b1) (not (emptyhand)) (not (clear ?b1)))
-                    (on-table ?b1)))
+      (oneof
+        (and (holding-one) (holding ?b1) (not (emptyhand)) (not (clear ?b1)))
+        (on-table ?b1)))
   )
-  
+
   (:action pick-up-from-table
     :parameters (?b - block)
     :precondition (and (emptyhand) (clear ?b) (on-table ?b))
-    :effect (oneof (and) (and (holding-one) (holding ?b) (not (emptyhand)) (not (on-table ?b)) (not (clear ?b))))
+    :effect (oneof
+      (and)
+      (and (holding-one) (holding ?b) (not (emptyhand)) (not (on-table ?b)) (not (clear ?b))))
   )
-  
+
   (:action put-on-block
     :parameters (?b1 ?b2 - block)
     :precondition (and (not (= ?b1 ?b2)) (holding-one) (holding ?b1) (clear ?b2))
     :effect (and (emptyhand) (clear ?b1) (not (holding-one)) (not (holding ?b1))
-             (oneof (and (on ?b1 ?b2) (not (clear ?b2)))
-                    (on-table ?b1)))
+      (oneof
+        (and (on ?b1 ?b2) (not (clear ?b2)))
+        (on-table ?b1)))
   )
-  
+
   (:action put-down
     :parameters (?b - block)
     :precondition (and (holding-one) (holding ?b))
     :effect (and (on-table ?b) (emptyhand) (clear ?b) (not (holding-one)) (not (holding ?b)))
   )
-  
+
   (:action pick-tower
     :parameters (?b1 ?b2 ?b3 - block)
     :precondition (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3) (clear ?b1))
-    :effect
-      (oneof (and) (and (holding-two) (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3)) (not (clear ?b1))))
+    :effect (oneof
+      (and)
+      (and (holding-two) (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3)) (not (clear ?b1))))
   )
-  
+
   (:action put-tower-on-block
     :parameters (?b1 ?b2 ?b3 - block)
     :precondition (and (holding-two) (holding ?b2) (on ?b1 ?b2) (clear ?b3))
     :effect (and (emptyhand) (not (holding-two)) (not (holding ?b2)) (clear ?b1)
-             (oneof (and (on ?b2 ?b3) (not (clear ?b3)))
-                    (and (on-table ?b1) (on-table ?b2) (clear ?b2) (not (on ?b1 ?b2)))))
+      (oneof
+        (and (on ?b2 ?b3) (not (clear ?b3)))
+        (and (on-table ?b1) (on-table ?b2) (clear ?b2) (not (on ?b1 ?b2)))))
   )
-  
+
   (:action put-tower-down
     :parameters (?b1 ?b2 - block)
     :precondition (and (holding-two) (holding ?b2) (on ?b1 ?b2))
     :effect (and (on-table ?b2) (emptyhand) (not (holding-two)) (not (holding ?b2)) (clear ?b1))
   )
-)
+)

benchmarks/blocksworld/domain.pddl

@@ -1,25 +1,38 @@
+;; FOND version of Blocksworld from FOND track in 2008 IPC-6
+;; Basically, it is the same domain as the one in the probabilistic track but with (oneof) instead of probabilities
+;; https://ipc08.icaps-conference.org/probabilistic/wiki/index.php/Results.html#Fully_Observable_Non-Deterministic_.28FOND.29_track
 (define (domain blocks-domain)
   (:requirements :non-deterministic :equality :typing)
-  (:types block)
-  (:predicates (holding ?b - block) (emptyhand) (on-table ?b - block) (on ?b1 ?b2 - block) (clear ?b - block))
+  (:types
+    block
+  )
+  (:predicates
+    (holding ?b - block)
+    (emptyhand)
+    (on-table ?b - block)
+    (on ?b1 ?b2 - block)
+    (clear ?b - block)
+  )
   (:action pick-up
     :parameters (?b1 ?b2 - block)
     :precondition (and (not (= ?b1 ?b2)) (emptyhand) (clear ?b1) (on ?b1 ?b2))
-    :effect
-      (oneof 
-        (and (holding ?b1) (clear ?b2) (not (emptyhand)) (not (clear ?b1)) (not (on ?b1 ?b2)))
-        (and (clear ?b2) (on-table ?b1) (not (on ?b1 ?b2))))
+    :effect (oneof
+      (and (holding ?b1) (clear ?b2) (not (emptyhand)) (not (clear ?b1)) (not (on ?b1 ?b2)))
+      (and (clear ?b2) (on-table ?b1) (not (on ?b1 ?b2))))
   )
   (:action pick-up-from-table
     :parameters (?b - block)
     :precondition (and (emptyhand) (clear ?b) (on-table ?b))
-    :effect (oneof (and) (and (holding ?b) (not (emptyhand)) (not (on-table ?b))))
+    :effect (oneof
+      (and)
+      (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)
@@ -29,18 +42,20 @@
   (:action pick-tower
     :parameters (?b1 ?b2 ?b3 - block)
     :precondition (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3))
-    :effect
-      (oneof (and) (and (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3))))
+    :effect (oneof
+      (and)
+      (and (holding ?b2) (clear ?b3) (not (emptyhand)) (not (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)))
   )
-)
+)