ssardina-research / mrr

MRR: Minimum Reinsantiated Reorder

MRR: Minimum Reinsantiated Reorder

MRR is an implementation of a MaxSAT-based technique for finding minimum deorderings and reorderings of a partial order plan. It can be configured to either find a minimum deorder or minimum reorder as per Muise et al., or a minimum reinstantiated deorder or minimum reiinstantiated reorder as per Waters et al.

Dependencies

Download the following .jar files to the lib directory:

• args4j-2.33.jar
• pddl4j-3.5.0.jar

The following programs must be installed:

• Loandra
• MaxPre
• Python 3
• Java SDK 1.8
• ant

The programs loandra and maxpre must be in the PATH.

Compiling MRR

From the root directory run:

ant build

MRR will be compiled into lib/mrr-0.0.1.jar.

Running MRR

Run MRR with the following command:

usage: pop-opt.py [-h] --domain DOMAIN --problem PROBLEM --plan PLAN --encoder ENCODER [--verbose]
			  	 

Required arguments:

• --domain DOMAIN: The location of the PDDL domain file.
• --problem PROBLEM: The location of the problem instance PDDL file.
• --plan PLAN: The location of the plan which solves PROBLEM.
• --encoder CSP_ENCODER: The encoder used to convert the input plan into a MaxSAT instance. Options are:
  • MD: Finds a minimum deorder as per Muise et al.
  • MR: Finds a minimum reorder as per Muise et al.
  • MR_OPSB: Finds a minimum reorder, also encodes operator symmetry breaking constraints.
  • MRD: Finds a minimum reinstantiated deorder.
  • MRR: Finds a minimum reinstantiated reorder.
  • MRR_OPSB: Finds a minimum reinstantiated reorder, also encodes operator symmetry breaking constraints.

Options:

• --verbose: Verbose output.

Plan format

Plan files with a .m extension are assumed to be Madagascar parallel plans (e.g., example/p01.pddl.m), otherwise plans are assumed to be standard IPC format plans (e.g., e.g., example/p01.pddl.bfws).

Example

The example directory contains a small planning instance from the IPC rovers domain, and three different plans. Run MRR over the example with the following commmand:

./mktr.sh --domain example/domain.pddl --problem example/p01.pddl
		  --plan example/p01.pddl.m --encoder MRR
			  	 

Supported PDDL fragments

All features of basic STRIPS are supported, and some aspects of ADL, namely equality, typing and negative preconditions.

Contact

Max Waters ([email protected]).

License

This project is using the GPLv3 for open source licensing for information and the license visit GNU website (https://www.gnu.org/licenses/gpl-3.0.en.html).

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.