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Merge branch 'master' of github.com:potassco/plasp into develop

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Patrick Lühne 2017-05-09 15:12:19 +02:00
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45
encodings/strips/README.md
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@ -5,23 +5,30 @@ The included encoding files provide the following functionalities:
## Encodings ## Encodings
### [incmode.lp](incmode.lp): include built-in “iclingo“ script for incremental grounding and solving
### [preprocess.lp](preprocess.lp): static analysis of potentially relevant actions ### [preprocess.lp](preprocess.lp): static analysis of potentially relevant actions
* Parameters: `_closure` (default value: `3`) * Parameter: `_closure` (default value: `3`)
* Value `1`: forward chaining of effects w.r.t. initial variable values * Value `1`: forward chaining of effects w.r.t. initial variable values
* Value `2`: backward regression of effects w.r.t. goal variable values * Value `2`: backward regression of effects w.r.t. goal variable values
* Value `3`: both forward chaining and backward regression of effects * Value `3`: both forward chaining and backward regression of effects
* Otherwise: off (simply take all actions as given) * Otherwise: off (simply take all actions as given)
### [strips-incremental.lp](strips-incremental.lp): sequential and parallel planning encoding variants ### [strips-incremental.lp](strips-incremental.lp): sequential and parallel planning encoding variants
* Parameters: `_parallel` (default value: `0`) * Parameter: `_parallel` (default value: `0`)
* Value `1`: “forall” parallel actions that can be arranged in any sequence * 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 `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 * Otherwise: sequential actions
* Parameter: `planner_on` (default value: `0`)
* Value `0`: no compatibility to ASP-based planner (no idle steps permitted)
* Otherwise: compatibility to ASP-based planner (idle steps permitted)
### [redundancy.lp](redundancy.lp): enforcement of ‘redundant’ actions to constrain parallel plans ### [redundancy.lp](redundancy.lp): enforcement of ‘redundant’ actions to constrain parallel plans
* Remarks: * Remarks:
* Only relevant together with parallel actions * Only relevant together with parallel actions not implemented by acyclicity
* Encoded constraints seem rather ineffective though * Encoded constraints seem rather ineffective though
* Heavy space overhead in combination with “exists” parallel actions * Heavy space overhead in combination with “exists” parallel actions
@ -32,25 +39,35 @@ The included encoding files provide the following functionalities:
Some example invocations (using `clingo` 5.1.0) are as follows: Some example invocations (using `clingo` 5.1.0) are as follows:
```bash ```bash
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 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
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 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
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 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
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 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
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 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
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 - incmode.lp 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=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 - incmode.lp 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=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 - incmode.lp 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 --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 - incmode.lp 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 --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 - incmode.lp 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 --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 - incmode.lp 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 - 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)
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)
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)
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)
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)
``` ```

3
encodings/strips/incmode.lp Normal file
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@ -0,0 +1,3 @@
% Include built-in "iclingo" script for incremental grounding and solving
#include <incmode>.

2
encodings/strips/preprocess.lp
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@ -6,6 +6,8 @@
#const _closure = 3. #const _closure = 3.
% BASE PROGRAM
% Check feature requirements % Check feature requirements
:- requires(feature(actionCosts)). :- requires(feature(actionCosts)).

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encodings/strips/redundancy.lp
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@ -1,33 +1,46 @@
% Additional rules for enforcing the inclusion of parallel actions in plans, % Additional rules for enforcing the inclusion of parallel actions in plans,
% whenever such 'redundant' actions are compatible with states and other actions % whenever such 'redundant' actions are compatible with states and other actions
compatible(A,A1) :- active(A), active(A1), A != A1, _parallel = 2, % BASE PROGRAM
not diverge(A,A1), not diverge(A1,A).
compatible(A) :- compatible(A,A1).
disable(A,A1,A2) :- disable(A1,A2), compatible(A,A1), compatible(A,A2). selfdefeat(A) :- selfdefeat(A,X).
disabled(A,A2) :- disable(A,A1,A2). disjoin(A,A1) :- active(A), has_condition(A,X,P), selfdefeat(A1,X), not selfdefeat(A).
disabled(A,A2) :- disable(A,A2).
compatible(A,A1) :- active(A), active(A1), A != A1, 1 < _parallel, _parallel < 4,
not diverge(A,A1), not exclude(A,A1), not disable(A,A1) : disable(A1,A).
compatible(A) :- compatible(A,A1).
compatible(A) :- active(A), active(A1), A != A1, _parallel = 1, not selfdefeat(A),
not diverge(A,A1), not exclude(A,A1), not disjoin(A,A1).
disable(A,A1,A2) :- compatible(A,A1), compatible(A,A2), compatible(A1,A2),
disable(A1,A2), not disable(A1,A).
disabled(A,A2) :- disable(A,A1,A2).
disabled(A,A1) :- compatible(A), disable(A,A1).
% STEP PROGRAM
#program step(t). #program step(t).
defeated(A,t) :- active(A), postcondition(A,X,V), fluent(X), not holds(X,V,t), defeated(A,t) :- compatible(A), postcondition(A,X,V), fluent(X), not holds(X,V,t).
_parallel = 1 : _parallel != 2.
defeated(A,t) :- _parallel = 1, active(A), precondition(A,X,V), not holds(X,V,t-1). defeated(A,t) :- compatible(A), precondition(A,X,V), not holds(X,V,t-1), _parallel != 2.
defeated(A,t) :- _parallel = 1, active(A), precondition(A,X,V), not holds(X,V,t). defeated(A,t) :- compatible(A), precondition(A,X,V), not has_condition(A,X,1), not holds(X,V,t),
defeated(A,t) :- _parallel = 1, active(A), postcondition(A,X,V), not precondition(A,X,V), _parallel = 1.
single(X,t). defeated(A,t) :- compatible(A), has_condition(A,X,1), not has_condition(A,X,0), single(X,t).
proceed(A,X,V,t) :- compatible(A), holds(X,V,t-1), scope(X,V). 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), proceed(A,X,V,t) :- compatible(A,A1), not disable(A1,A), perform(A,A1,t), occurs(A1,t),
postcondition(A1,X,V), scope(X,V), not precondition(A1,X,V). scope(X,V), postcondition(A1,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), not disable(A1,A),
perform(A,A1,t) :- compatible(A,A1), proceed(A,X,V,t) : precondition(A1,X,V), _parallel = 2;
proceed(A,X,V,t) : precondition(A1,X,V); perform(A,A2,t) : disable(A,A1,A2). alright(A,A2,t) : disable(A,A1,A2).
defeated(A,t) :- compatible(A), precondition(A,X,V), not proceed(A,X,V,t). alright(A,A1,t) :- disabled(A,A1), not occurs(A1,t).
defeated(A,t) :- compatible(A), disable(A,A2), not perform(A,A2,t). alright(A,A1,t) :- perform(A,A1,t).
:- active(A), not occurs(A,t), not defeated(A,t), _parallel = 1 : _parallel != 2. defeated(A,t) :- compatible(A), precondition(A,X,V), not proceed(A,X,V,t), _parallel = 2.
defeated(A,t) :- compatible(A), disable(A,A1), not alright(A,A1,t).
:- compatible(A), not occurs(A,t), not defeated(A,t), 0 < _parallel, _parallel < 4.

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encodings/strips/strips-incremental.lp
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@ -1,27 +1,40 @@
% Constant '_parallel' to enable parallel actions % Constant '_parallel' to enable parallel actions
% - value '1': "forall" parallel actions that can be arranged in any sequence % - 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 '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 % - otherwise: sequential actions
#const _parallel = 0. #const _parallel = 0.
#include <incmode>. % Constant 'planner_on' to enable encoding support for ASP-based planner
% - value '0': no compatibility to ASP-based planner (no idle steps permitted)
% - otherwise: compatibility to ASP-based planner (idle steps permitted)
#const planner_on = 0.
% BASE PROGRAM % BASE PROGRAM
% Define auxiliary predicates for actions w.r.t. parallel mode % Define auxiliary predicates for actions w.r.t. parallel mode
diverge(A1,A2,X) :- active(A1), active(A2), A1 < A2, postcondition(A1,X,V), selfdefeat(A,X) :- active(A), precondition(A,X,V), _parallel = 1,
has_condition(A,X,1), not postcondition(A,X,V).
diverge(A1,A2,X) :- active(A1), active(A2), postcondition(A1,X,V),
has_condition(A2,X,1), not postcondition(A2,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). diverge(A1,A2) :- diverge(A1,A2,X).
exclude(A1,A2) :- diverge(A1,A2), precondition(A1,X,V), _parallel = 1, exclude(A1,A2) :- active(A1), active(A2), precondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V). has_condition(A2,X,0), not precondition(A2,X,V),
0 < _parallel, _parallel < 5, _parallel != 2.
disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,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), 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 exclude(A1,A2),
1 < _parallel, _parallel < 5.
disable :- _parallel = 4, #sum{1,A1 : disable(A1,A2); -1,A2 : disable(A1,A2)} > 0.
scope(X,V) :- active(A), precondition(A,X,V), _parallel = 2. scope(X,V) :- active(A), precondition(A,X,V), _parallel = 2.
@ -60,7 +73,9 @@ change(X,t) :- holds(X,V,t-1), not holds(X,V,t).
% Generate actions % Generate actions
1 {occurs(A,t) : active(A)}. {occurs(A,t)} :- active(A).
:- planner_on = 0, not occurs(A,t) : active(A).
:- occurs(A,t), postcondition(A,X,V), fluent(X), not holds(X,V,t). :- occurs(A,t), postcondition(A,X,V), fluent(X), not holds(X,V,t).
@ -70,26 +85,31 @@ effect(X,t) :- occurs(A,t), postcondition(A,X,V), fluent(X), not precondition(A,
% Checks w.r.t. parallel mode % 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). :- _parallel != 2, occurs(A,t), precondition(A,X,V), not holds(X,V,t-1).
:- _parallel = 1, occurs(A,t), precondition(A,X,V), not has_condition(A,X,1), not holds(X,V,t). :- _parallel = 1, occurs(A,t), precondition(A,X,V), not has_condition(A,X,1), not holds(X,V,t).
single(X,t) :- occurs(A,t), precondition(A,X,V), _parallel = 1, single(X,t) :- occurs(A,t), selfdefeat(A,X).
has_condition(A,X,1), not postcondition(A,X,V).
:- single(X,t), #count{A : occurs(A,t), postcondition(A,X,V), not precondition(A,X,V)} > 1. :- single(X,t), #count{A : occurs(A,t), postcondition(A,X,V), not precondition(A,X,V)} > 1.
proceed(X,V,t) :- holds(X,V,t-1), scope(X,V). 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), proceed(X,V,t) :- perform(A,t), scope(X,V), postcondition(A,X,V), not precondition(A,X,V),
perform(A,t). occurs(A,t).
perform(A1,t) :- active(A1), _parallel = 2, not occurs(A1,t). perform(A,t) :- active(A), 1 < _parallel, _parallel < 4,
perform(A1,t) :- active(A1), _parallel = 2, proceed(X,V,t) : precondition(A,X,V), _parallel = 2;
proceed(X,V,t) : precondition(A1,X,V); perform(A2,t) : disable(A1,A2). alright(A1,t) : disable(A,A1).
:- _parallel = 2, active(A), not perform(A,t). alright(A,t) :- active(A), 1 < _parallel, _parallel < 4, not occurs(A,t).
alright(A,t) :- perform(A,t).
:- 1 < _parallel, _parallel < 4, active(A), not alright(A,t).
#edge((A1,t),(A2,t)) : disable(A1,A2), occurs(A1,t), _parallel = 4, not disable.
#edge((A1,t),(A2,t)) : disable(A1,A2), occurs(A2,t), disable.
% CHECK PROGRAM % CHECK PROGRAM