74 lines
6.2 KiB
Markdown
74 lines
6.2 KiB
Markdown
# Incremental STRIPS Planning Encodings
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This suite of incremental STRIPS planning encodings implements diverse methods.
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The included encoding files provide the following functionalities:
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## Encodings
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### [incmode.lp](incmode.lp): include built-in “iclingo“ script for incremental grounding and solving
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### [preprocess.lp](preprocess.lp): static analysis of potentially relevant actions
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* Parameter: `_closure` (default value: `3`)
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* Value `1`: forward chaining of effects w.r.t. initial variable values
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* Value `2`: backward regression of effects w.r.t. goal variable values
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* Value `3`: both forward chaining and backward regression of effects
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* Otherwise: off (simply take all actions as given)
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### [strips-incremental.lp](strips-incremental.lp): sequential and parallel planning encoding variants
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* Parameter: `_parallel` (default value: `0`)
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* Value `1`: “forall” parallel actions that can be arranged in any sequence
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* Value `2`: “exists” parallel actions that can be arranged in some sequence
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* Value `3`: “exists“ parallel actions omitting achievement of preconditions
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* Value `4`: “exists“ parallel actions like `3` implemented by acyclicity
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* Otherwise: sequential actions
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* Parameter: `planner_on` (default value: `0`)
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* Value `0`: no compatibility to ASP-based planner (no idle steps permitted)
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* Otherwise: compatibility to ASP-based planner (idle steps permitted)
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### [redundancy.lp](redundancy.lp): enforcement of ‘redundant’ actions to constrain parallel plans
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* Remarks:
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* Only relevant together with parallel actions not implemented by acyclicity
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* Encoded constraints seem rather ineffective though
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* Heavy space overhead in combination with “exists” parallel actions
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### [postprocess.lp](postprocess.lp): plan feasibility checking and conversion to sequential plan
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## Usage Examples
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Some example invocations (using `clingo` 5.1.0) are as follows:
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```bash
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _closure=0
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _closure=1
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _closure=2
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=1
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=2
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=3
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=4
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=1 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=2 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=3 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp 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)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp 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)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp 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)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp 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)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp 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)
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```
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