SGPlan 5: Subgoal Partitioning and Resolution in Planning
Chih-Wei Hsu, Benjamin W. Wah, Ruoyun Huang, and Yixin Chen
For bug reports and problems on using the programs, please send email to Chih-wei Hsu
Winner of the 1st Prize Satisficing Planning in the Deterministic Part of the International Planning Competition (IPC) 2006
Summary of IPC 2006 Results (June, 2006)
|
|
Downward |
MIPS-BDD |
MIPS-XXL |
SGPlan 5 |
HPlan-P |
YochanPS |
|
Propositional Domains (1st / 2nd Places) |
1 / 4 |
|
0 / 1 |
5 / 2 |
|
0 / 1 |
|
Metric/Temporal Domains (1st / 2nd
Places) |
|
|
0 / 3 |
8 / 1 |
|
1 / 3 |
|
SimplePreferences Domains (1st / 2nd Places) |
|
0 / 1 |
0 / 4 |
6 / 0 |
|
0 / 4 |
|
QualitativePreferences Domains (1st / 2nd Places) |
|
|
|
5 / 0 |
0 / 5 |
|
|
Constraints Domains (1st / 2nd Places) |
|
|
0 / 3 |
3 / 0 |
|
|
|
ComplexPreferences Domains (1st / 2nd Places) |
|
|
0 / 3 |
5 / 0 |
|
|
Details of IPC 2006 results
The binary file (compiled using gcc
version 3.4.5 on Redhat
Enterprise Linux 4 and with static linking option) of SGPlan 5
is available for download.
Instructions for running SGPlan 5:
- Download
Version 5.0 (June 2006)
This version will not be distributed because its default strategy for handling new PDDL3 domains is too limited.
Version 5.1 (August 2006 version).
This version has enhancements from the version used in IPC5 (Version 5.0). It includes
a) a default strategy for handling new PDDL3 domains;
b) corrections to the problem of parallelizing tasks (as pointed out by Long and Fox); and
c) corrections to various bugs.
Version 5.1.1 (January 2007 version).
This version has enhancements over Version 5.1 by including
a) plan-costs in all outputs;
b) increased size of some static arrays;
c) correction of some bugs in MDF preprocessing.
Version 5.1.2 (March 2007 version).
This version has a bug fix over Version 5.1.1.
Version 5.2 (August 2006 version).
This version has enhancements from Version 5.1.
It includes a new version of Metric-FF and some suggestions from Hoffmann.
Version 5.2.1 (January 2007 version).
This version has enhancements from Version 5.1.1
by including a new version of Metric-FF and some suggestions from Hoffmann.
Version 5.2.2 (March 2007 version).
This version has a bug fix over Version 5.2.1.
- Uncompress the downloaded file in the current directory by running unzip
- Run sgplan:
Usage: sgplan5 -o operator_file_name -f fact_file_name [-out solution_file_name] [-cputime seconds]
where the output will go to the standard output if the "-out solution_file_name" option is not specified,
and the maximum CPU time (in seconds) allowed will be enforeced if the "-cputime seconds" option is specified.
For example: sgplan5 -o p01-domain.pddl -f p01-s2-n1-l2-f50.pddl -out p01.soln -cputime 20
For more testing domains, try sgplan on the IPC-3, IPC-4, and IPC-5 benchmark suites.
The SGPlan 5 Planner (extended abstract)
Similiar to SGPlan 4, SGPlan 5 partitions a large planning problem into subproblems,
each with its own subgoal, and resolves those
inconsistent solutions using our extended saddle-point condition.
In SGPlan 5, we generalize subgoal
partitioning to exploit constraint locality due to the new features in PDDL3.
We have developed techniques for resolving violated constraints, optimizing
goal preferences, and achieving subgoals in a multi-valued
representation. Our current implementation of SGPlan 5
uses a modified Metric-FF
planner for basic planning.
The Architecture of SGPlan 5
References:
- C. W. Hsu, B. W. Wah, R. Huang, and Y. X. Chen, Handling Soft Constraints and Preferences in SGPlan, Proc. ICAPS Workshop on Preferences and Soft Constraints in Planning, June 2006.
- C. W. Hsu, B. W. Wah, R. Huang, and Y. X. Chen, New Features in SGPlan for Handling Soft Constraints and Goal Preferences in PDDL3.0, Proc. Fifth International Planning Competition, International Conf. on Automated Planning and Scheduling, June 2006.
Acknowledgments:
Research supported by National Science Foundation Grant IIS 03-12084.