diff --git a/README.md b/README.md index ed5e25c..9734f68 100644 --- a/README.md +++ b/README.md @@ -35,22 +35,27 @@ Domains taken from FOND replanner [safe-planner](https://github.com/mokhtarivahi ## IPC-6 2008 -The following four domains from the [**2008 IPC-6 FOND track**](https://ipc08.icaps-conference.org/probabilistic/wiki/index.php/Results.html#Fully_Observable_Non-Deterministic_.28FOND.29_track) in the uncertainty part: +The following four domains from the [**2008 IPC-6 FOND track**](https://ipc08.icaps-conference.org/probabilistic/wiki/index.php/Results.html#Fully_Observable_Non-Deterministic_.28FOND.29_track) in the [uncertainty part](https://ipc08.icaps-conference.org/probabilistic/wiki/): - `blocksworld` (all solvable) - `faults` (all solvable) - `first-responders` - `forest` (at least 48/66 proven unsolvable) -- `rectangle-tireworld`: a variant of `triangle-tireworld` where the network is rectangular; nondeterministic by removing probabilities from the FOP version. - - `rectangle-tireworld-noghost`: same but without the `ghostTeleport` action. These domains are already FOND ones, that is, they use the non-deterministic `oneof` construct. Not every problem has a strong-cyclic plan, some were proved unsolvable (see Table 1 in [2012 PRP paper](https://cdn.aaai.org/ojs/13520/13520-40-17038-1-2-20201228.pdf)). + +In addition, the following domains were crafted but not used in the final competition: + +- `rectangle-tireworld`: a variant of `triangle-tireworld` where the network is rectangular; nondeterministic by removing probabilities from the FOP version. + - `rectangle-tireworld-noghost`: same but without the `ghostTeleport` action. +- `tireworld`: adapted the IPC-5 (2006) probabilistic version by replacing probabilities with `oneof` non-determinism. Provided as an example before competition. + A description of the above domains can be found in 2008 Bryce & Buffet's [International Planning Competition Uncertainty Part: Benchmarks and Results](https://ipc08.icaps-conference.org/probabilistic/wiki/images/0/03/Results.pdf) report. ## PRP (2012) -The [2012 PRP paper](https://cdn.aaai.org/ojs/13520/13520-40-17038-1-2-20201228.pdf) used all the 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 IPC-6 FOND track domains and probabilistic interesting ones, plus the following ones. First, the `blocksworld` and `forest` domains were extended as follows: @@ -69,8 +74,8 @@ Many additional domains were added later to its [repo](https://github.com/QuMuLa These five come from the [FOND-SAT](https://github.com/tomsons22/FOND-SAT) repo/paper, crafted to have many "misleading plans" (i.e., weak plans leading to dead-ends): -- `tireworld-spiky`: modification of triangle `tireworld`. -- `tireworld-truck`: modification of triangle `tireworld-spiky` itself. +- `tireworld-spiky`: modification of `triangle-tireworld`. +- `tireworld-truck`: modification of `tireworld-spiky` itself. - `islands` - `doors`: a variation of `chain-of-rooms` (used by QBFPLAN and MBP). - `miner` @@ -80,10 +85,11 @@ These five come from the [FOND-SAT](https://github.com/tomsons22/FOND-SAT) repo/ - `acrobatics`: similar to `beam-walk`; by Miquel Ramirez 2014. - `beam-walk`: [(Cimatti, Roveri, & Traverso, 1998)](https://cdn.aaai.org/AAAI/1998/AAAI98-124.pdf) -- `earth-observation`: ([J Aldinger & J Löhr, 2013)](https://gki.informatik.uni-freiburg.de/papers/aldinger-loehr-pcd2013.pdf) - `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. -- `st_mapfdu`: From Thorsten Engesser on planning for implicit coordination. Strong cyclic plans exist, but it's the acyclic ones that are desired. +- `earth-observation`: ([J Aldinger & J Löhr, 2013)](https://gki.informatik.uni-freiburg.de/papers/aldinger-loehr-pcd2013.pdf) - `puffbot_dialogue_pddl`: From Milene Teixeira -- domain for building dialogue agents in the health-care setting. +- `st_mapfdu`: from Thorsten Engesser on planning for implicit coordination. Strong cyclic plans exist, but it's the acyclic ones that are desired. + ## Catalogue Tool diff --git a/benchmarks/tireworld/domain.pddl b/benchmarks/tireworld/domain.pddl index 2ee28c7..1580873 100644 --- a/benchmarks/tireworld/domain.pddl +++ b/benchmarks/tireworld/domain.pddl @@ -1,31 +1,42 @@ -;;; Authors: Michael Littman and David Weissman ;;; -;;; Modified: Blai Bonet for IPC 2006 ;;; - -;;; Modified: Christian Muise to make it a FOND domain - +;;; Authors: Michael Littman and David Weissman ;;; +;;; Modified: Blai Bonet for IPC 2006 ;;; +;;; Modified: Dan Bryce for IPC 2008 ;;; +;;; https://ipc08.icaps-conference.org/probabilistic/wiki/index.php/Tireworld-nd_p01.html (define (domain tire) (:requirements :typing :strips :non-deterministic) - (:types location) - (:predicates (vehicle-at ?loc - location) (spare-in ?loc - location) (road ?from - location ?to - location) (not-flattire) (hasspare)) - + (:types + location + ) + (:predicates + (vehicle-at ?loc - location) + (spare-in ?loc - location) + (road ?from - location ?to - location) + (not-flattire) + (hasspare) + ) + ;; Two (and) effects give us 1/3 probability of getting a flat -- the original probability was 2/5 (:action move-car :parameters (?from - location ?to - location) :precondition (and (vehicle-at ?from) (road ?from ?to) (not-flattire)) - :effect (and (vehicle-at ?to) (not (vehicle-at ?from)) (oneof (and) (and) (not (not-flattire)))) + :effect (and (vehicle-at ?to) (not (vehicle-at ?from)) (oneof + (and) + (and) + (not (not-flattire)))) ) - + (:action loadtire :parameters (?loc - location) :precondition (and (vehicle-at ?loc) (spare-in ?loc)) :effect (and (hasspare) (not (spare-in ?loc))) ) - + (:action changetire :parameters () :precondition (hasspare) - :effect (oneof (and) (and (not (hasspare)) (not-flattire))) ;; The original domain has a 50% chance of a spare change failing + :effect (oneof + (and) + (and (not (hasspare)) (not-flattire))) ;; The original domain has a 50% chance of a spare change failing ) - -) +) \ No newline at end of file