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Updating epistemic and conformant benchmarks

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Brandon Rozek 2023-11-09 17:22:41 -05:00
parent d647b0d37d
commit 492e7bac14
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GPG key ID: 26E457DA82C9F480
3 changed files with 145 additions and 2 deletions
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56
src/main/resources/org/rairlab/planner/problems/conformant/bomb.clj Normal file
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@ -0,0 +1,56 @@
; Original problem from Joerg Hoffmann and Ronen Brafman
{:name "Bomb-In-The-Toilet"
:background [
; Setting object types
(bomb bomb1)
(bomb bomb2)
(bomb bomb3)
(bomb bomb4)
(bomb bomb5)
(toilet toilet1)
]
:actions [
(define-action dunk [?bomb ?toilet] {
:preconditions [
; Type restriction
(bomb ?bomb)
(toilet ?toilet)
; Preconditions
(not (clogged ?toilet))
]
:additions [
(not (armed ?bomb))
(clogged ?toilet)
]
:deletions [
(armed ?bomb)
(not (clogged ?toilet))
]
})
(define-action flush [?toilet] {
:preconditions [ (toilet ?toilet) ]
:additions [ (not (clogged ?toilet)) ]
:deletions [ (clogged ?toilet) ]
})
]
:start [
; Unknown facts don't need to be stated
; since we don't assume closed world assumption.
; (unknown (armed bomb1))
; (unknown (armed bomb2))
; (unknown (armed bomb3))
; (unknown (armed bomb4))
; (unknown (armed bomb5))
]
:goal [
(not (armed bomb1))
(not (armed bomb2))
(not (armed bomb3))
(not (armed bomb4))
(not (armed bomb5))
]
}

81
src/main/resources/org/rairlab/planner/problems/conformant/safe.clj Normal file
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@ -0,0 +1,81 @@
; Original problem from Joerg Hoffmann and Ronen Brafman
{:name "Safe"
:background [ ]
:actions [
(define-action try [?x] {
; NOTE: Currently need a precondition otherwise question-answering portion doesn't work.
:preconditions [ (combination ?x) ]
:additions [ (if (right-combination ?x) (safe-open))]
:deletions [ ]
})
]
:start [
; Unknown facts don't need to be stated
; since we don't assume closed world assumption.
; (unknown (right-combination c1))
; (unknown (right-combination c2))
; (unknown (right-combination c3))
; (unknown (right-combination c4))
; (unknown (right-combination c5))
(combination c1)
(combination c2)
(combination c3)
(combination c4)
(combination c5)
; One-of possibilities
(or
(and
(right-combination c1)
(not (right-combination c2))
(not (right-combination c3))
(not (right-combination c4))
(not (right-combination c5))
)
(and
(not (right-combination c1))
(right-combination c2)
(not (right-combination c3))
(not (right-combination c4))
(not (right-combination c5))
)
(and
(not (right-combination c1))
(not (right-combination c2))
(right-combination c3)
(not (right-combination c4))
(not (right-combination c5))
)
(and
(not (right-combination c1))
(not (right-combination c2))
(not (right-combination c3))
(right-combination c4)
(not (right-combination c5))
)
(and
(not (right-combination c1))
(not (right-combination c2))
(not (right-combination c3))
(not (right-combination c4))
(right-combination c5)
)
)
]
:goal [ (safe-open) ]
}

10
src/main/resources/org/rairlab/planner/problems/epistemic/grapevine.clj
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@ -1,10 +1,13 @@
{:name "GrapeVine"
:background [
; Type predicates
(agent a)
(agent b)
(agent c)
(room p1)
(room p2)
; Unique name axioms
(not (= a b))
(not (= a c))
(not (= b c))
@ -20,8 +23,8 @@
(not (at ?a p2))
]
:deletions [
(at ?a p2)
(not (at ?a p1))
(at ?a p2)
]
})
@ -36,8 +39,8 @@
(not (at ?a p1))
]
:deletions [
(at ?a p1)
(not (at ?a p2))
(at ?a p1)
]
})
@ -65,6 +68,8 @@
:deletions [
(not (Believes! ?a2 (the ?a1)))
(not (Believes! ?a3 (the ?a1)))
(not (Believes ?a1 (Believes! ?a2 (the ?a1))))
(not (Believes ?a1 (Believes! ?a3 (the ?a1))))
]
})
@ -89,6 +94,7 @@
]
:deletions [
(not (Believes! ?a2 (the ?a1)))
(not (Believes! ?a1 (Believes! ?a2 (the ?a1))))
]
})