Merge branch 'master' of github.com:potassco/plasp into develop
This commit is contained in:
commit
cbbe942dfd
GPG Key ID:
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@ -64,11 +64,12 @@ If you want to write your own meta encoding for `plasp`’s output, this [simple
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`plasp` requires `boost` and is built via CMake and a C++ compiler.
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See [building instructions](doc/building-instructions.md) for more details.
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See [building](doc/building.md) for more details.
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## Contributors
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* [Patrick Lühne](https://www.luehne.de)
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* Martin Gebser (encodings)
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* Torsten Schaub (encodings)
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### Earlier Versions
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@ -1,4 +1,4 @@
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# Building Instructions
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# Building
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`plasp` requires a C++14 compiler (preferrably GCC ≥ 6.1 or clang ≥ 3.8), the `boost` libraries (≥ 1.55), and CMake for building.
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# 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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### [preprocess.lp](preprocess.lp): static analysis of potentially relevant actions
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* Parameters: `_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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* Parameters: `_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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* Otherwise: sequential actions
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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
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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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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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```
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% Convert a plan (possibly with parallel actions), given by atoms over occurs/2,
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% to a sequential plan, expressed by atoms over sequence/2
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time(T) :- occurs(A,T).
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time :- time(T).
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:- goal(X,V), not initialState(X,V), not time.
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last(T2) :- time, T2 = #max{T1 : time(T1)}.
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offset(T2,M) :- time(T2), M = #count{A,T1 : occurs(A,T1), T1 < T2}.
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finish(T,M+N) :- offset(T,M), N = #count{A : occurs(A,T)}.
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index(T,M+1..N) :- offset(T,M), finish(T,N).
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postcondition(A,X,V) :- postcondition(A,E,X,V), occurs(A,T).
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postcondition(A,X) :- postcondition(A,X,V).
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before(A1,A2,T) :- occurs(A1,T), occurs(A2,T), A1 != A2,
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precondition(A1,X,V), postcondition(A2,X), not postcondition(A2,X,V).
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order(A1,A2,T) :- occurs(A1,T), occurs(A2,T), A1 < A2, A <= A1 : occurs(A,T), A < A2.
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first(A2,T) :- occurs(A2,T), #false : order(A1,A2,T).
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undone(A,T,M) :- occurs(A,T), offset(T,M).
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undone(A,T,N) :- undone(A,T,N-1), select(A1,T,N), A != A1, index(T,N+1).
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done(A,T,N) :- select(A,T,N).
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done(A,T,N) :- done(A,T,N-1), index(T,N).
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:- finish(T,N), occurs(A,T), not done(A,T,N).
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hold(X,V,0) :- initialState(X,V).
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hold(X,V,N) :- select(A,T,N), postcondition(A,X,V).
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hold(X,V,N) :- select(A,T,N), hold(X,V,N-1), not postcondition(A,X).
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:- last(T), finish(T,N), goal(X,V), not hold(X,V,N).
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hold(X,N) :- hold(X,V,N).
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:- hold(X,N), #count{V : hold(X,V,N)} > 1.
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preconditions(A,T,N) :- undone(A,T,N), hold(X,V,N) : precondition(A,X,V).
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applicable(A,T,N) :- preconditions(A,T,N), done(A1,T,N) : before(A1,A,T).
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inapplicable(A,T,N) :- done(A,T,N), index(T,N+1).
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inapplicable(A,T,N) :- undone(A,T,N), precondition(A,X,V1), hold(X,V2,N), V1 != V2.
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inapplicable(A,T,N) :- undone(A1,T,N), before(A1,A,T).
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continue(A2,T,N) :- order(A1,A2,T), inapplicable(A1,T,N), first(A1,T).
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continue(A2,T,N) :- order(A1,A2,T), inapplicable(A1,T,N), continue(A1,T,N).
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select(A,T,N+1) :- applicable(A,T,N), first(A,T).
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select(A,T,N+1) :- applicable(A,T,N), continue(A,T,N).
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% DISPLAY PART
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#show.
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#show sequence(A,N) : select(A,T,N).
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% Constant '_closure' to (de)activate analysis of potentially relevant actions
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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
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#const _closure = 3.
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% Check feature requirements
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:- requires(feature(actionCosts)).
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:- requires(feature(axiomRules)).
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:- requires(feature(conditionalEffects)).
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% Basic redundancy check for actions
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postcondition(A,X,V) :- postcondition(A,E,X,V).
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has_condition(A,X,0) :- action(A), precondition(A,X,V).
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has_condition(A,X,1) :- action(A), postcondition(A,X,V).
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inconsistent(A) :- has_condition(A,X,P),
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#count{V : precondition(A,X,V), P = 0;
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V : postcondition(A,X,V), P = 1} > 1.
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consistent(A) :- action(A), not inconsistent(A).
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irredundant(A) :- consistent(A), postcondition(A,X,V), not precondition(A,X,V).
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% Forward chaining of effects w.r.t. initial variable values
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feasible(X,V) :- initialState(X,V).
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feasible(X,V) :- possible(A), postcondition(A,X,V).
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possible(A) :- irredundant(A), feasible(X,V) : precondition(A,X,V).
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possible(A) :- irredundant(A), _closure != 1, _closure != 3.
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:- goal(X,V), not feasible(X,V).
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% Backward regression of effects w.r.t. goal variable values
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produce(X,V) :- goal(X,V), not initialState(X,V).
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produce(X,V) :- active(A), precondition(A,X,V), not initialState(X,V).
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produce(X,V) :- persist(X,V), active(A), has_condition(A,X,1), not postcondition(A,X,V).
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persist(X,V) :- goal(X,V), initialState(X,V).
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persist(X,V) :- active(A), precondition(A,X,V), initialState(X,V).
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active(A) :- possible(A), postcondition(A,X,V), produce(X,V).
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active(A) :- possible(A), _closure != 2, _closure != 3.
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% Additional rules for enforcing the inclusion of parallel actions in plans,
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% whenever such 'redundant' actions are compatible with states and other actions
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compatible(A,A1) :- active(A), active(A1), A != A1, _parallel = 2,
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not diverge(A,A1), not diverge(A1,A).
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compatible(A) :- compatible(A,A1).
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disable(A,A1,A2) :- disable(A1,A2), compatible(A,A1), compatible(A,A2).
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disabled(A,A2) :- disable(A,A1,A2).
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disabled(A,A2) :- disable(A,A2).
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#program step(t).
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defeated(A,t) :- active(A), postcondition(A,X,V), fluent(X), not holds(X,V,t),
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_parallel = 1 : _parallel != 2.
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defeated(A,t) :- _parallel = 1, active(A), precondition(A,X,V), not holds(X,V,t-1).
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defeated(A,t) :- _parallel = 1, active(A), precondition(A,X,V), not holds(X,V,t).
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defeated(A,t) :- _parallel = 1, active(A), postcondition(A,X,V), not precondition(A,X,V),
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single(X,t).
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proceed(A,X,V,t) :- compatible(A), holds(X,V,t-1), scope(X,V).
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proceed(A,X,V,t) :- compatible(A,A1), occurs(A1,t), perform(A,A1,t),
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postcondition(A1,X,V), scope(X,V), not precondition(A1,X,V).
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perform(A,A1,t) :- disabled(A,A1), not occurs(A1,t).
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perform(A,A1,t) :- compatible(A,A1),
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proceed(A,X,V,t) : precondition(A1,X,V); perform(A,A2,t) : disable(A,A1,A2).
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defeated(A,t) :- compatible(A), precondition(A,X,V), not proceed(A,X,V,t).
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defeated(A,t) :- compatible(A), disable(A,A2), not perform(A,A2,t).
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:- active(A), not occurs(A,t), not defeated(A,t), _parallel = 1 : _parallel != 2.
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% Constant '_parallel' to enable parallel actions
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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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% - otherwise: sequential actions
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#const _parallel = 0.
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#include <incmode>.
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% BASE PROGRAM
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% Define auxiliary predicates for actions w.r.t. parallel mode
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diverge(A1,A2,X) :- active(A1), active(A2), A1 < A2, postcondition(A1,X,V),
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has_condition(A2,X,1), not postcondition(A2,X,V),
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_parallel = 1 : _parallel != 2.
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diverge(A1,A2) :- diverge(A1,A2,X).
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exclude(A1,A2) :- diverge(A1,A2), precondition(A1,X,V), _parallel = 1,
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has_condition(A2,X,0), not precondition(A2,X,V).
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disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,X,V),
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has_condition(A2,X,0), not precondition(A2,X,V),
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_parallel = 2, not diverge(A1,A2), not diverge(A2,A1).
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scope(X,V) :- active(A), precondition(A,X,V), _parallel = 2.
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% Define relevant fluents w.r.t. parallel mode
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fluent(X,V) :- produce(X,V).
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fluent(X,V) :- persist(X,V).
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fluent(X,V) :- initialState(X,V), fluent(X).
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fluent(X,V) :- active(A), postcondition(A,X,V), fluent(X).
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fluent(X) :- fluent(X,V).
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fluent(X) :- diverge(A1,A2,X), not exclude(A1,A2).
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% Define unsubsumed mutexes
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mutex(G,X) :- mutexGroup(G), contains(G,X,V), fluent(X,V).
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mutex(G) :- mutexGroup(G), #count{X : mutex(G,X)} > 1.
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% Define initial state
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holds(X,V,0) :- initialState(X,V), fluent(X).
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:- fluent(X), #count{V : holds(X,V,0)} > 1.
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:- mutex(G), #count{X,V : holds(X,V,0), contains(G,X,V)} > 1.
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% STEP PROGRAM
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#program step(t).
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% Generate successor state
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1 {holds(X,V,t) : fluent(X,V)} 1 :- fluent(X).
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:- mutex(G), #count{X,V : holds(X,V,t), contains(G,X,V)} > 1.
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change(X,t) :- holds(X,V,t-1), not holds(X,V,t).
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% Generate actions
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1 {occurs(A,t) : active(A)}.
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:- occurs(A,t), postcondition(A,X,V), fluent(X), not holds(X,V,t).
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effect(X,t) :- occurs(A,t), postcondition(A,X,V), fluent(X), not precondition(A,X,V).
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:- change(X,t), not effect(X,t).
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% Checks w.r.t. parallel mode
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:- _parallel != 1, _parallel != 2, #count{A : occurs(A,t)} > 1.
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:- _parallel != 2, occurs(A,t), precondition(A,X,V), not holds(X,V,t-1).
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:- _parallel = 1, occurs(A,t), precondition(A,X,V), not has_condition(A,X,1), not holds(X,V,t).
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single(X,t) :- occurs(A,t), precondition(A,X,V), _parallel = 1,
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has_condition(A,X,1), not postcondition(A,X,V).
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:- single(X,t), #count{A : occurs(A,t), postcondition(A,X,V), not precondition(A,X,V)} > 1.
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proceed(X,V,t) :- holds(X,V,t-1), scope(X,V).
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proceed(X,V,t) :- occurs(A,t), postcondition(A,X,V), scope(X,V), not precondition(A,X,V),
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perform(A,t).
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perform(A1,t) :- active(A1), _parallel = 2, not occurs(A1,t).
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perform(A1,t) :- active(A1), _parallel = 2,
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proceed(X,V,t) : precondition(A1,X,V); perform(A2,t) : disable(A1,A2).
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:- _parallel = 2, active(A), not perform(A,t).
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% CHECK PROGRAM
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#program check(t).
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% Check goal conditions
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:- query(t), goal(X,V), not holds(X,V,t).
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% DISPLAY PART
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#show occurs/2.
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Reference in New Issue