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Symbolic Models

This repository contains a few examples of symbolic models. The solvers and the zum_examples are from a course BI-ZUM taught at the Czech Technical University.

Models

Stack Blocks

Instance-level description

stack_blocks/instance_level/long

Each block is uniquely identified.

Long domain description derived from a standard example:

java -jar planners/JGraphplan.jar stack_blocks/instance_level/long/domain.pddl stack_blocks/instance_level/long/stack_3_blocks.pddl

Short domain description that uses object types:

stack_blocks/instance_level/short_with_types

java -jar planners/JGraphplan.jar stack_blocks/instance_level/short_with_types/domain.pddl stack_blocks/instance_level/short_with_types/stack_3_blocks.pddl

Goal-level description

stack_blocks/goal_level

Instead of identifying each block, the symbolic state is defined by the highest stack of blocks and the state of the robotic hand (full / empty).

The pick action assumes that you do not pick an object from the highest stack. The place action assumes that you place an object on the highest stack. The input is the current state and the next state, which is quite clunky.

Overall, enumerating the states by hand and defining how they follow after one another is weird.

java -jar planners/JGraphplan.jar stack_blocks/goal_level/domain.pddl stack_blocks/goal_level/stack_3_blocks.pddl

Usage

Solve a STRIPS problem:

java -jar planners/JGraphplan.jar <domain> <problem>

Example:

java -jar planners/JGraphplan.jar zum_examples/blocks/blocks.pddl zum_examples/blocks/blocks-3.pddl

Solve an ADL problem (solver link):

java -jar planners/pddl4j-3.7.1.jar -o <domain> -f <problem>

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