This repository contains a domain and problem file written in PDDL to map out the task of picking up and peeling a food item with a robotic arm, peeler, and a cutting board.
The plan is found using the fully observable non-deterministic (FOND) planner Planner for Relevant Policies (PRP). The outputs of the plan are located in the policy_output folder in the format of a policy. The output is the output.sas file while the raw policy produced is the file policy.out. Using the translator translator.py, a human readable output file is created namedʼ readable_output.txt.
In the domain and problem files, the naming convention of the actions, predicates, and type/object names:
- actions: SomeAction
- predicates: SomePredicate
- type names: sometype
- object names: some_object
Although in the output files, all letters are converted to lowercase
The planner PRP is installed/accessed through the Planutils library.
GitHub Repo: https://github.com/AI-Planning/planutils
GitHub Repo: https://github.com/QuMuLab/planner-for-relevant-policies
The translator.py file is a copy of planner-for-relevant-policies/prp-scripts/translate_policy.py with a few minor changes so that the output is printed in the readable_output.txt file.
@inproceedings{muise12icapsfond, author = {Christian Muise and Sheila A McIlraith and J Christopher Beck}, title = {Improved Non-deterministic Planning by Exploiting State Relevance}, booktitle = {The 22nd International Conference on Automated Planning and Scheduling (ICAPS)}, year = {2012}, subdiscipline = {Artificial Intelligence}, type = {Conference Proceedings}
@inproceedings{muise-aaai-14, title={Computing Contingent Plans via Fully Observable Non-Deterministic Planning}, author={Muise, Christian and Belle, Vaishak and McIlraith, Sheila A.}, booktitle={The 28th AAAI Conference on Artificial Intelligence}, year={2014}, url={http://www.haz.ca/papers/muise-aaai-14.pdf}
@inproceedings{muise-icaps-14, title={Non-Deterministic Planning With Conditional Effects}, author={Muise, Christian and McIlraith, Sheila A. and Belle, Vaishak}, booktitle={The 24th International Conference on Automated Planning and Scheduling}, year={2014}, url={http://www.haz.ca/papers/muise-icaps-14.pdf}