/CSMs

Primary LanguageC++

PTT - macro and entanglement generation in planning

  • L. Chrpa, M. Vallati: Planning with Critical Section Macros: Theory and Practice, Journal of Artificial Intelligence Research

Repository

Benchmarks

Benchmark domains are in respective directories that have the following structure

  • domain.pddl contains the original domain model
  • domain_<macro>.pddl contains a macro enhanced domain model (after macros are learnt - not part of the repo)
  • knowledge_<macro>.kf contains a description of macros (after macros are learnt - not part of the repo)
  • /learn contains a set of training problems
  • /testing contains a set of testing problems
  • /testing_<macro> contains a set of enhanced testing problems (after macros are learnt - not part of the repo)

Sources

To compile, get into /src and type make

Unfold Plans

To unfold macros in plans, use the following tool (to compile, get into /unfold_plans and type make):

./unfold_plans <plan_w_macros> <knowledge_file> <plan_for_original_problem>

Scripts

To learn Critical Section Macros (CSM), use the following script (you must be in the /scripts directory)

./learn-csm.sh <domain_folder> <planner-script> <CSM-type>

where, <CSM_type> can be as follows:

  • csm - normal CSMs with argument limit
  • ncsm - normal CSMs without argument limit
  • acsm - aggressive CSMs with argument limit
  • ancsm - aggressive CSMs without argument limit

For example: ./learn-csm.sh ../benchmarks/bw ff-script acsm

To learn Compound CSMs, use the following script (you must be in the /scripts directory)

./learn-c-csm.sh <domain_folder> <planner-script> <CSM-type>

where, <CSM_type> can be as follows:

  • ccsm - normal compound CSMs with argument limit
  • nccsm - normal compound CSMs without argument limit
  • accsm - aggressive compound CSMs with argument limit
  • anccsm - aggressive compound CSMs without argument limit

To learn MUM macros, use the following script (you must be in the /scripts directory)

./learn-mum.sh <domain_folder> <planner-script>

To learn BloMa macros, use the following script (you must be in the /scripts directory)

./learn-bloma.sh <domain_folder> <planner-script>

Note that paths to the planners in <planner>-script files has to be updated accordingly

Note that the ptt-old binary is used by MUM and BloMa (because of some issues with backwards compatibility of the code)

Contact

Lukas Chrpa, chrpaluk<at>fel.cvut.cz