diff --git a/encodings/strips/README.md b/encodings/strips/README.md index 037ce05..9e633b5 100644 --- a/encodings/strips/README.md +++ b/encodings/strips/README.md @@ -17,11 +17,13 @@ The included encoding files provide the following functionalities: * Parameters: `_parallel` (default value: `0`) * Value `1`: “forall” parallel actions that can be arranged in any sequence * Value `2`: “exists” parallel actions that can be arranged in some sequence + * Value `3`: “exists“ parallel actions omitting achievement of preconditions + * Value `4`: “exists“ parallel actions like `3` implemented by acyclicity * Otherwise: sequential actions ### [redundancy.lp](redundancy.lp): enforcement of ‘redundant’ actions to constrain parallel plans * Remarks: - * Only relevant together with parallel actions + * Only relevant together with parallel actions not implemented by acyclicity * Encoded constraints seem rather ineffective though * Heavy space overhead in combination with “exists” parallel actions @@ -44,13 +46,23 @@ plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instan plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=2 +plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=3 + +plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=4 + plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=1 redundancy.lp plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=2 redundancy.lp +plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=3 redundancy.lp + plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl) plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 -c _parallel=1 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl) plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 -c _parallel=2 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl) + +plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 -c _parallel=3 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl) + +plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 -c _parallel=4 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl) ``` diff --git a/encodings/strips/redundancy.lp b/encodings/strips/redundancy.lp index ef67f92..0efc8fe 100644 --- a/encodings/strips/redundancy.lp +++ b/encodings/strips/redundancy.lp @@ -1,8 +1,9 @@ % Additional rules for enforcing the inclusion of parallel actions in plans, % whenever such 'redundant' actions are compatible with states and other actions -compatible(A,A1) :- active(A), active(A1), A != A1, _parallel = 2, - not diverge(A,A1), not diverge(A1,A). +compatible(A,A1) :- active(A), active(A1), A != A1, 1 < _parallel, _parallel < 4, + not diverge(A,A1), not diverge(A1,A), + not exclude(A,A1), not exclude(A1,A). compatible(A) :- compatible(A,A1). disable(A,A1,A2) :- disable(A1,A2), compatible(A,A1), compatible(A,A2). @@ -12,22 +13,25 @@ disabled(A,A2) :- disable(A,A2). #program step(t). defeated(A,t) :- active(A), postcondition(A,X,V), fluent(X), not holds(X,V,t), - _parallel = 1 : _parallel != 2. + 1 < _parallel, _parallel < 4. defeated(A,t) :- _parallel = 1, active(A), precondition(A,X,V), not holds(X,V,t-1). defeated(A,t) :- _parallel = 1, active(A), precondition(A,X,V), not holds(X,V,t). defeated(A,t) :- _parallel = 1, active(A), postcondition(A,X,V), not precondition(A,X,V), single(X,t). +defeated(A,t) :- _parallel = 3, active(A), precondition(A,X,V), not holds(X,V,t-1). + proceed(A,X,V,t) :- compatible(A), holds(X,V,t-1), scope(X,V). proceed(A,X,V,t) :- compatible(A,A1), occurs(A1,t), perform(A,A1,t), postcondition(A1,X,V), scope(X,V), not precondition(A1,X,V). perform(A,A1,t) :- disabled(A,A1), not occurs(A1,t). perform(A,A1,t) :- compatible(A,A1), - proceed(A,X,V,t) : precondition(A1,X,V); perform(A,A2,t) : disable(A,A1,A2). + proceed(A,X,V,t) : precondition(A1,X,V), _parallel = 2; + perform(A,A2,t) : disable(A,A1,A2). -defeated(A,t) :- compatible(A), precondition(A,X,V), not proceed(A,X,V,t). +defeated(A,t) :- compatible(A), precondition(A,X,V), not proceed(A,X,V,t), _parallel = 2. defeated(A,t) :- compatible(A), disable(A,A2), not perform(A,A2,t). -:- active(A), not occurs(A,t), not defeated(A,t), _parallel = 1 : _parallel != 2. +:- active(A), not occurs(A,t), not defeated(A,t), 1 < _parallel, _parallel < 4. diff --git a/encodings/strips/strips-incremental.lp b/encodings/strips/strips-incremental.lp index 8f26060..18ef678 100644 --- a/encodings/strips/strips-incremental.lp +++ b/encodings/strips/strips-incremental.lp @@ -1,6 +1,8 @@ % Constant '_parallel' to enable parallel actions % - value '1': "forall" parallel actions that can be arranged in any sequence % - value '2': "exists" parallel actions that can be arranged in some sequence +% - value '3': "exists" parallel actions omitting achievement of preconditions +% - value '4': "exists" parallel actions like '3' implemented by acyclicity % - otherwise: sequential actions #const _parallel = 0. @@ -13,15 +15,20 @@ diverge(A1,A2,X) :- active(A1), active(A2), A1 < A2, postcondition(A1,X,V), has_condition(A2,X,1), not postcondition(A2,X,V), - _parallel = 1 : _parallel != 2. + 0 < _parallel, _parallel < 5. diverge(A1,A2) :- diverge(A1,A2,X). -exclude(A1,A2) :- diverge(A1,A2), precondition(A1,X,V), _parallel = 1, +exclude(A1,A2) :- diverge(A1,A2), precondition(A1,X,V), _parallel != 2, has_condition(A2,X,0), not precondition(A2,X,V). disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,X,V), has_condition(A2,X,0), not precondition(A2,X,V), - _parallel = 2, not diverge(A1,A2), not diverge(A2,A1). + not diverge(A1,A2), not diverge(A2,A1), + not exclude(A1,A2), not exclude(A2,A1), + 1 < _parallel, _parallel < 5. + +disable :- #sum{ 1,A1 : disable(A1,A2), _parallel = 4; + -1,A2 : disable(A1,A2), _parallel = 4 } > 0. scope(X,V) :- active(A), precondition(A,X,V), _parallel = 2. @@ -60,7 +67,9 @@ change(X,t) :- holds(X,V,t-1), not holds(X,V,t). % Generate actions -1 {occurs(A,t) : active(A)}. +{occurs(A,t) : active(A)}. + +:- not occurs(A,t) : active(A). :- occurs(A,t), postcondition(A,X,V), fluent(X), not holds(X,V,t). @@ -70,7 +79,7 @@ effect(X,t) :- occurs(A,t), postcondition(A,X,V), fluent(X), not precondition(A, % Checks w.r.t. parallel mode -:- _parallel != 1, _parallel != 2, #count{A : occurs(A,t)} > 1. +:- _parallel != 1, _parallel != 2, _parallel != 3, _parallel != 4, #count{A : occurs(A,t)} > 1. :- _parallel != 2, occurs(A,t), precondition(A,X,V), not holds(X,V,t-1). @@ -85,11 +94,15 @@ proceed(X,V,t) :- holds(X,V,t-1), scope(X,V). proceed(X,V,t) :- occurs(A,t), postcondition(A,X,V), scope(X,V), not precondition(A,X,V), perform(A,t). -perform(A1,t) :- active(A1), _parallel = 2, not occurs(A1,t). -perform(A1,t) :- active(A1), _parallel = 2, - proceed(X,V,t) : precondition(A1,X,V); perform(A2,t) : disable(A1,A2). +perform(A1,t) :- active(A1), 1 < _parallel, _parallel < 4, not occurs(A1,t). +perform(A1,t) :- active(A1), 1 < _parallel, _parallel < 4, + proceed(X,V,t) : precondition(A1,X,V), _parallel = 2; + perform(A2,t) : disable(A1,A2). -:- _parallel = 2, active(A), not perform(A,t). +:- 1 < _parallel, _parallel < 4, active(A), not perform(A,t). + +#edge((A1,t),(A2,t)) : occurs(A1,t), disable(A1,A2), _parallel = 4, not disable. +#edge((A1,t),(A2,t)) : occurs(A2,t), disable(A1,A2), disable. % CHECK PROGRAM