diff --git a/bdi_extension/anc_eff.py b/bdi_extension/anc_eff.py index 663a7b2..78e810c 100644 --- a/bdi_extension/anc_eff.py +++ b/bdi_extension/anc_eff.py @@ -58,10 +58,21 @@ def __hash__(self): return hash((self.negate_inner_rml, self.hard_bdi, self.agent, tuple(self.nested))) def negate(self, already_negated: bool=False): + """Propagate a negation through this BDI term and any nested ones. + - Flip ``hard_bdi``/``possible`` status at every level (mirrors how apply_cond_effs + treats negations when nesting new BDI wrappers). + - Toggle the inner RML negation unless the caller already handled it + (``already_negated=True`` is used when the raw predicate was negated upstream). + - If we have nesting, push the inner-negation marker down to the deepest term so + only one layer carries it, avoiding duplicate `!` flags after nesting/merging. + """ + # Will only be None for NegateOnly terms if self.hard_bdi is not None: self.hard_bdi = not self.hard_bdi + # Toggle inner RML negation unless already handled if not already_negated: self.negate_inner_rml = not self.negate_inner_rml + # Push inner RML negation to deepest nested term if self.nested: for b in self.nested: b.hard_bdi = not b.hard_bdi diff --git a/bdi_extension/apply_cond_effs.py b/bdi_extension/apply_cond_effs.py index eafb0dc..adc6106 100644 --- a/bdi_extension/apply_cond_effs.py +++ b/bdi_extension/apply_cond_effs.py @@ -13,6 +13,7 @@ class ApplyCondEff: def __init__(self, anc_eff, derive_condition, agents, depth, predicates, objects): + """Parse ancillary effect structure into antecedent/consequent components.""" self.derived_cond = derive_condition self.agents = agents self.depth = depth @@ -20,7 +21,7 @@ def __init__(self, anc_eff, derive_condition, agents, depth, predicates, objects self.objects = objects self.assignment = {} self.name = anc_eff[2].value - anc_eff = anc_eff[3:-1] # remove parentheses and anceff name + anc_eff = anc_eff[3:-1] # remove parentheses and anceff name # parameters are optional if anc_eff[0]: self.params = anc_eff[0][1] @@ -31,7 +32,7 @@ def __init__(self, anc_eff, derive_condition, agents, depth, predicates, objects self.ant_neg_cond = ant[1][1] if ant[1] else ant[1] self.need_awareness = None if ant[2]: - self.need_awareness = True if ant[2][1].value == "true" else False + self.need_awareness = True if ant[2][1].value == "true" else False self.ant_rml = ant[3][1][0] self.ant_cond_type = ant[4][1][0].value # consequent @@ -42,6 +43,7 @@ def __init__(self, anc_eff, derive_condition, agents, depth, predicates, objects self.cons_cond_type = cons[3][1][0].value def modify_predicate_apply_cond_type(self, old_p, agent=None): + """Apply the consequent's add/del semantics to an existing predicate.""" all_preds = [] for mod in self.cons_rml: next_preds = self.gather_preds(mod, old_p, agent) @@ -50,9 +52,10 @@ def modify_predicate_apply_cond_type(self, old_p, agent=None): p.negated = not p.negated all_preds.extend(next_preds) return all_preds - + @staticmethod def nest_bdi(mod_p, new_pred, old_p, simplify=True): + """Nest BDI annotations from ``mod_p`` onto ``new_pred``, simplifying when possible.""" if type(new_pred.bdi) is NegateOnly: # we are nesting on top of a negate_only! # take the new BDI term and set the negate_inner_rml. @@ -77,7 +80,9 @@ def nest_bdi(mod_p, new_pred, old_p, simplify=True): new_pred.bdi.negate(True) if simplify: # check if they reference the same agents - if new_pred.bdi.agent == new_pred.bdi.nested[0].agent and type(new_pred.bdi) == type(new_pred.bdi.nested[0]): + if new_pred.bdi.agent == new_pred.bdi.nested[0].agent and type( + new_pred.bdi + ) == type(new_pred.bdi.nested[0]): # if we have possible BDI then BDI, return just the BDI if not new_pred.bdi.hard_bdi and new_pred.bdi.nested[0].hard_bdi: new_bdi = new_pred.bdi.nested[0] @@ -102,9 +107,10 @@ def nest_bdi(mod_p, new_pred, old_p, simplify=True): new_pred.bdi.nested = nested return new_pred return new_pred - + @staticmethod def merge_bdi(mod_p, new_pred, old_p): + """Nest or return the original predicate depending on BDI compatibility.""" # we only want to nest by adding a NEGATIVE BDI term IF # the original BDI term is NOT a belief of the corresponding # agent (positive or negative) @@ -118,15 +124,24 @@ def merge_bdi(mod_p, new_pred, old_p): return ApplyCondEff.nest_bdi(mod_p, new_pred, old_p) def modify_predicate(self, old_p, mod_p, agent=None): - """ Assuming both predicates have the same "base," + """Assuming both predicates have the same "base," modify the old predicate according to the attributes of the new predicate""" + + # print(f"\nModifying predicate {old_p} with {mod_p.bdi} ({mod_p.bdi.__class__.__name__}) for agent {agent}") + mod_p = deepcopy(mod_p) new_pred = deepcopy(old_p) - + + # Special case for (and (...)) structure if type(new_pred) is And: if len(new_pred._operands) == 1: new_pred = new_pred._operands[0] + # Special case if we're negating an AK predicate + if new_pred.always_known and mod_p.negate_whole_term: + new_pred.negated = not new_pred.negated + return new_pred + # if the antecedent has a type "del," then we only want to # pass in the "raw" RML, a.k.a. leave the negation at the door. if "del" in self.ant_cond_type: @@ -142,47 +157,54 @@ def modify_predicate(self, old_p, mod_p, agent=None): # "inner" negation. new_pred.bdi = NegateOnly(True) elif mod_p.bdi: - if new_pred.bdi: - if (type(new_pred.bdi) is NegateOnly or new_pred.bdi.negate_inner_rml) and new_pred.always_known: - if type(mod_p.bdi) is NegateOnly and mod_p.bdi.negate_inner_rml: - new_pred.bdi.negate() - return new_pred - return old_p - if mod_p.nest: + if new_pred.bdi: + if ( + type(new_pred.bdi) is NegateOnly or new_pred.bdi.negate_inner_rml + ) and new_pred.always_known: + if type(mod_p.bdi) is NegateOnly and mod_p.bdi.negate_inner_rml: + new_pred.bdi.negate() + return new_pred + return old_p + if mod_p.nest: + mod_p.bdi.agent = Agent(agent, False) + new_pred = self.merge_bdi(mod_p, new_pred, old_p) + else: + if agent is not None: mod_p.bdi.agent = Agent(agent, False) + # if new_pred.bdi.negate_inner_rml: + # # we're adding a BDI term into an "inner negated" term. + # # we aren't nesting, but we still want to keep that negation. + # if mod_p.bdi.nested: + # mod_p.bdi.nested[-1].negate_inner_rml = new_pred.bdi.negate_inner_rml + # else: + # mod_p.bdi.negate_inner_rml = new_pred.bdi.negate_inner_rml + if type(new_pred.bdi) is NegateOnly: new_pred = self.merge_bdi(mod_p, new_pred, old_p) - else: - if agent is not None: - mod_p.bdi.agent = Agent(agent, False) - # if new_pred.bdi.negate_inner_rml: - # # we're adding a BDI term into an "inner negated" term. - # # we aren't nesting, but we still want to keep that negation. - # if mod_p.bdi.nested: - # mod_p.bdi.nested[-1].negate_inner_rml = new_pred.bdi.negate_inner_rml - # else: - # mod_p.bdi.negate_inner_rml = new_pred.bdi.negate_inner_rml - if type(new_pred.bdi) is NegateOnly: - new_pred = self.merge_bdi(mod_p, new_pred, old_p) - else: - new_pred.bdi = deepcopy(mod_p.bdi) - new_pred.bdi.nested = deepcopy(mod_p.bdi.nested) - else: - if new_pred.always_known: - # we don't give "always known" predicates BDI terms. - # however a negation can still happen! - if type(mod_p.bdi) is NegateOnly and mod_p.bdi.negate_inner_rml: - new_pred.bdi = NegateOnly(True) - return new_pred else: - mod_p.bdi.agent = Agent(agent, False) new_pred.bdi = deepcopy(mod_p.bdi) + new_pred.bdi.nested = deepcopy(mod_p.bdi.nested) + else: + if new_pred.always_known: + + # Never have this predicate be NegateOnly, since AK's are either true or false. + new_pred.bdi = None + + if mod_p.bdi.negate_inner_rml: + new_pred.negated = not new_pred.negated + + return new_pred + else: + mod_p.bdi.agent = Agent(agent, False) + new_pred.bdi = deepcopy(mod_p.bdi) + # print(f"Modified predicate to {new_pred}") return new_pred def get_pos_or_neg_cond_term(self, cond, term_type): + """Extract positive or negative predicates from a condition while normalizing negation.""" if not cond: return [] new_preds = [] - if term_type == 'pos': + if term_type == "pos": # note: since we have a condition, we assume we're working with a When # we need to grab all predicates that are not negated if type(cond) is And: @@ -199,55 +221,12 @@ def get_pos_or_neg_cond_term(self, cond, term_type): new_preds = deepcopy(new_preds) # note that we want to ignore the negations here and just get the raw RMLs, # because they will be re-applied by the :negcond in the consequent if necessary later. - for i in range (len(new_preds)): + for i in range(len(new_preds)): new_preds[i].negated = False return new_preds - - def handle_rml_list_comp(self, next_term): - # recursively iterate through the condition structure - if type(next_term) is Predicate: - terms = list(next_term.terms) - for i in range(len(terms)): - if type(terms[i]) is Variable: - terms[i] = Constant(self.assignment[terms[i].name]) - return [Predicate(next_term.name, *terms)] - elif type(next_term) is ModRML: - if next_term.bdi: - if next_term.bdi.agent.var: - next_term.bdi.agent = Agent(self.assignment[next_term.bdi.agent.name], False) - if next_term.bdi.nested: - for i in range(len(next_term.bdi.nested)): - if next_term.bdi.nested[i].agent.var: - next_term.bdi.nested[i].agent = Agent(self.assignment[next_term.bdi.nested[i].agent.name], False) - return [next_term] - elif type(next_term) is Token: - if next_term.type == 'PLUS': - return [] - elif type(next_term) is list: - if type(next_term) is list: - if type(next_term[0]) is list: - if next_term[0][0] == "COMPOUND": - mod_rmls = [] - for a in self.agents: - rml = deepcopy(next_term[0][2]) - if rml.bdi.agent.var: - if rml.bdi.agent.name == "ag": - rml.bdi.agent = Agent(a, False) - else: - rml.bdi.agent = Agent(self.assignment[rml.bdi.agent.name], False) - for i in range(len(rml.bdi.nested)): - if rml.bdi.nested[i].agent.name == "ag": - rml.bdi.nested[i].agent = Agent(a, False) - else: - rml.bdi.nested[i].agent = Agent(self.assignment[rml.bdi.nested[i].agent.name], False) - mod_rmls.append(rml) - return mod_rmls - grounded_terms = [] - for term in next_term: - grounded_terms.extend(self.handle_agent_list_comp(term)) - return grounded_terms - - def handle_cond_list_comp(self, list_comp_terms, next_cond_or_eff, agent=None): + + def handle_list_comp(self, list_comp_terms, next_cond_or_eff, agent=None): + """Resolve list comprehensions.""" if not self.ant_pos_cond and not self.ant_neg_cond: return [] matching_lc = None @@ -263,22 +242,26 @@ def handle_cond_list_comp(self, list_comp_terms, next_cond_or_eff, agent=None): first_cond_term = self.ant_pos_cond[0] if type(first_cond_term) is list: if list_comp_terms[var_i] == first_cond_term[0]: - matching_lc = 'pos' + matching_lc = "pos" # if not, check the negative condition if not matching_lc and self.ant_neg_cond: if type(self.ant_neg_cond) is list: first_cond_term = self.ant_neg_cond[0] if type(first_cond_term) is list: if list_comp_terms[var_i] == first_cond_term[0]: - matching_lc = 'neg' + matching_lc = "neg" if matching_lc: - new_preds = [] + new_preds = [] # if we do have a matching term, we need to construct the new list of predicates - new_preds.extend(self.get_pos_or_neg_cond_term(next_cond_or_eff, matching_lc)) - # finally we need to see if any modifications were made to the predicates by looking + new_preds.extend( + self.get_pos_or_neg_cond_term(next_cond_or_eff, matching_lc) + ) + # finally we need to see if any modifications were made to the predicates by looking # at the first term of the list comprehension for i in range(len(new_preds)): - new_preds[i] = self.modify_predicate(deepcopy(new_preds[i]), list_comp_terms[0], agent) + new_preds[i] = self.modify_predicate( + deepcopy(new_preds[i]), list_comp_terms[0], agent + ) return new_preds else: if list_comp_terms[var_i].value == "agents": @@ -289,27 +272,36 @@ def handle_cond_list_comp(self, list_comp_terms, next_cond_or_eff, agent=None): if rml.bdi.agent.name == "ag": rml.bdi.agent = Agent(a, False) else: - rml.bdi.agent = Agent(self.assignment[rml.bdi.agent.name], False) + rml.bdi.agent = Agent( + self.assignment[rml.bdi.agent.name], False + ) for i in range(len(rml.bdi.nested)): if rml.bdi.nested[i].agent.name == "ag": rml.bdi.nested[i].agent = Agent(a, False) else: - rml.bdi.nested[i].agent = Agent(self.assignment[rml.bdi.nested[i].agent.name], False) - - new_preds.append(self.modify_predicate(deepcopy(next_cond_or_eff), rml, agent)) - return new_preds + rml.bdi.nested[i].agent = Agent( + self.assignment[rml.bdi.nested[i].agent.name], False + ) + + new_preds.append( + self.modify_predicate(deepcopy(next_cond_or_eff), rml, agent) + ) + return new_preds else: # if no matches, then we don't know what the list comprehension is referring to - raise ValueError("No matching list comprehension term found in antecedent conditions.") + raise ValueError( + "No matching list comprehension term found in antecedent conditions." + ) def gather_preds(self, cons_cond_or_rml, next_cond_or_eff, agent=None): + """Recursively collect predicates from a consequent condition or RML based on the next condition/effect RML it receives.""" # recursively iterate through the condition structure if type(cons_cond_or_rml) is Tree: return self.gather_preds(cons_cond_or_rml.children, next_cond_or_eff, agent) elif type(cons_cond_or_rml) is Predicate: - terms = deepcopy(list(cons_cond_or_rml.terms) ) + terms = deepcopy(list(cons_cond_or_rml.terms)) for i in range(len(terms)): - if type(terms[i]) is Variable: + if type(terms[i]) is Variable: terms[i] = Constant(self.assignment[terms[i].name]) p = Predicate(cons_cond_or_rml.name, *terms) for dp in self.predicates: @@ -321,12 +313,16 @@ def gather_preds(self, cons_cond_or_rml, next_cond_or_eff, agent=None): if p.bdi.agent: if p.bdi.agent.var: if p.bdi.agent.name in self.assignment: - p.bdi.agent = Agent(self.assignment[p.bdi.agent.name], False) + p.bdi.agent = Agent( + self.assignment[p.bdi.agent.name], False + ) for i in range(len(p.bdi.nested)): if p.bdi.nested[i].agent: if p.bdi.nested[i].agent.var: if p.bdi.nested[i].agent.name in self.assignment: - p.bdi.nested[i].agent = Agent(self.assignment[p.bdi.nested[i].agent.name], False) + p.bdi.nested[i].agent = Agent( + self.assignment[p.bdi.nested[i].agent.name], False + ) p.negated = cons_cond_or_rml.negated return [p] elif type(cons_cond_or_rml) is ModRML: @@ -335,15 +331,19 @@ def gather_preds(self, cons_cond_or_rml, next_cond_or_eff, agent=None): if rml.bdi.agent: if rml.bdi.agent.var: if rml.bdi.agent.name in self.assignment: - rml.bdi.agent = Agent(self.assignment[rml.bdi.agent.name], False) + rml.bdi.agent = Agent( + self.assignment[rml.bdi.agent.name], False + ) for i in range(len(rml.bdi.nested)): if rml.bdi.nested[i].agent: if rml.bdi.nested[i].agent.var: if rml.bdi.nested[i].agent.name in self.assignment: - rml.bdi.nested[i].agent = Agent(self.assignment[rml.bdi.nested[i].agent.name], False) + rml.bdi.nested[i].agent = Agent( + self.assignment[rml.bdi.nested[i].agent.name], False + ) return [self.modify_predicate(next_cond_or_eff, rml, agent)] elif type(cons_cond_or_rml) is Token: - if cons_cond_or_rml.type == 'PLUS': + if cons_cond_or_rml.type == "PLUS": return [] elif type(cons_cond_or_rml) is list: cond_preds = [] @@ -351,25 +351,33 @@ def gather_preds(self, cons_cond_or_rml, next_cond_or_eff, agent=None): if type(term) is list: if term[0] == "COMPOUND": # we're dealing with a list comprehension - cond_preds.extend(self.handle_cond_list_comp(term[2:-1], next_cond_or_eff, agent)) + cond_preds.extend( + self.handle_list_comp(term[2:-1], next_cond_or_eff, agent) + ) continue # we're referencing an antecedent condition if term == self.ant_pos_cond[0]: - cond_preds.extend(self.get_pos_or_neg_cond_term(next_cond_or_eff, 'pos')) - continue + cond_preds.extend( + self.get_pos_or_neg_cond_term(next_cond_or_eff, "pos") + ) + continue elif term == self.ant_neg_cond[0]: - cond_preds.extend(self.get_pos_or_neg_cond_term(next_cond_or_eff, 'neg')) - continue - # regular recursion + cond_preds.extend( + self.get_pos_or_neg_cond_term(next_cond_or_eff, "neg") + ) + continue + # regular recursion cond_preds.extend(self.gather_preds(term, next_cond_or_eff, agent)) return cond_preds def create_cond(self, cons_cond, next_cond, agent=None): + """Build predicates for a single consequent condition section.""" if cons_cond: return self.gather_preds(cons_cond, next_cond, agent) return None def create_conds(self, next_cond, agent=None): + """Create combined positive/negative consequent conditions with proper negation.""" new_pos_cond = self.create_cond(self.cons_pos_cond, next_cond, agent) new_neg_cond = self.create_cond(self.cons_neg_cond, next_cond, agent) @@ -381,8 +389,9 @@ def create_conds(self, next_cond, agent=None): c.negated = not c.negated new_cond.extend(new_neg_cond) return new_cond - + def create_dcond_pred(self, index, agent): + """Ground a derived condition template at ``index`` for ``agent``.""" d_par_copy = deepcopy(self.derived_cond) d_par_copy[index] = Constant(agent) d_par_copy = d_par_copy[1:-1] @@ -393,8 +402,9 @@ def create_dcond_pred(self, index, agent): break p.negated = False return p - + def get_derived_cond_preds(self, agent=None): + """Return grounded derived-condition predicates, optionally for a specific agent.""" if type(self.derived_cond) is list: if self.derived_cond[0] == Token("ALWAYS", "always"): return [] @@ -406,7 +416,7 @@ def get_derived_cond_preds(self, agent=None): # TODO: assuming only one var for now var = self.derived_cond[i][1] break - if var: + if var: # just want for a specific agent if agent: return [self.create_dcond_pred(i, agent)] @@ -420,10 +430,11 @@ def get_derived_cond_preds(self, agent=None): for a in self.agents: p = self.create_dcond_pred(i, a) grounded_dconds.append((p, a)) - return grounded_dconds - + return grounded_dconds + @staticmethod def bdi_in_cond(cond): + """Check whether a condition contains any non-negation BDI term.""" if not cond: return False elif type(cond) is ModRML: @@ -434,9 +445,10 @@ def bdi_in_cond(cond): check = ApplyCondEff.bdi_in_cond(t) if check: return True - return False - + return False + def vars_to_iterate(self, formula): + """Collect non-agent variables that should be grounded during expansion.""" vars = set() if type(formula) is Predicate: for t in formula.terms: @@ -446,10 +458,13 @@ def vars_to_iterate(self, formula): for f in formula: vars = vars.union(self.vars_to_iterate(f)) elif type(formula) is When: - return self.vars_to_iterate(formula.condition) + self.vars_to_iterate(formula.effect) + return self.vars_to_iterate(formula.condition) + self.vars_to_iterate( + formula.effect + ) return vars - + def agents_to_iterate(self, formula): + """Collect agent variables (including nested BDI agents) that require grounding.""" vars = set() if type(formula) is Predicate: if formula.bdi: @@ -475,10 +490,13 @@ def agents_to_iterate(self, formula): for f in formula: vars = vars.union(self.agents_to_iterate(f)) elif type(formula) is When: - return self.vars_to_iterate(formula.condition) + self.vars_to_iterate(formula.effect) + return self.vars_to_iterate(formula.condition) + self.vars_to_iterate( + formula.effect + ) return vars - + def create_consequent_core(self, next_f): + """Generate consequents for a single valuation (optionally within a When).""" consequent_preds = [] # WHEN CONDITION CASE if type(next_f) is When: @@ -494,14 +512,16 @@ def create_consequent_core(self, next_f): return [] and_cond = And(*[]) and_cond._operands.extend(sorted(cond)) - eff = self.modify_predicate_apply_cond_type(deepcopy(next_f.effect), self.current_agent) + eff = self.modify_predicate_apply_cond_type( + deepcopy(next_f.effect), self.current_agent + ) consequent_preds.append(When(and_cond, And(*eff))) # PREDICATE CASE else: # we need to do derived conditions here since that might - # have a matching agent parameter. + # have a matching agent parameter. cond = self.create_conds(None) - if self.derived_cond: + if self.derived_cond: if self.need_awareness: if self.derived_cond[0] != Token("NEVER", "never"): cond = set(self.get_derived_cond_preds(self.current_agent)) @@ -510,25 +530,39 @@ def create_consequent_core(self, next_f): if cond: and_cond = And(*[]) and_cond._operands.extend(sorted(cond)) - eff = self.modify_predicate_apply_cond_type(deepcopy(next_f), self.current_agent) + eff = self.modify_predicate_apply_cond_type( + deepcopy(next_f), self.current_agent + ) consequent_preds.append(When(and_cond, And(*eff))) else: - consequent_preds.extend(self.modify_predicate_apply_cond_type(deepcopy(next_f), self.current_agent)) + consequent_preds.extend( + self.modify_predicate_apply_cond_type( + deepcopy(next_f), self.current_agent + ) + ) return consequent_preds def create_consequent(self, next_f): - + """Ground any new variables/agents and build consequents for ``next_f``.""" ant_agents = self.agents_to_iterate(self.ant_rml) - cons_agents = self.agents_to_iterate(self.cons_pos_cond).union(self.agents_to_iterate(self.cons_neg_cond), self.agents_to_iterate(self.cons_rml)) + cons_agents = self.agents_to_iterate(self.cons_pos_cond).union( + self.agents_to_iterate(self.cons_neg_cond), + self.agents_to_iterate(self.cons_rml), + ) ant_vars = self.vars_to_iterate(self.ant_rml) - cons_vars = self.vars_to_iterate(self.cons_pos_cond).union(self.vars_to_iterate(self.cons_neg_cond), self.vars_to_iterate(self.cons_rml)) + cons_vars = self.vars_to_iterate(self.cons_pos_cond).union( + self.vars_to_iterate(self.cons_neg_cond), + self.vars_to_iterate(self.cons_rml), + ) ant_agents_d = {a.name: a for a in ant_agents} cons_agents_d = {a.name: a for a in cons_agents} if len(cons_agents_d.keys() - ant_agents_d.keys()) > 1: - raise NotImplementedError("Decide how to handle multiple newly introduced agents in a consequent, " \ + raise NotImplementedError( + "Decide how to handle multiple newly introduced agents in a consequent, " "particularly in mapping to derived conditions (where we are also currently " - "only assuming one agent parameter).") + "only assuming one agent parameter)." + ) ant_vars_d = deepcopy(ant_agents_d) cons_vars_d = deepcopy(cons_agents_d) ant_vars_d.update({v.name: v for v in ant_vars}) @@ -538,11 +572,13 @@ def create_consequent(self, next_f): consequent_preds = [] if all_vars_to_iter: - val_generator = create_valuations(self.agents, self.objects, all_vars_to_iter) + val_generator = create_valuations( + self.agents, self.objects, all_vars_to_iter + ) for valuation in val_generator: self.current_agent = None for var, val in zip(all_vars_to_iter, valuation): - if type(var) is Agent or var.name in cons_agents_d: + if type(var) is Agent or var.name in cons_agents_d: self.current_agent = val self.assignment[var.name] = val consequent_preds.extend(self.create_consequent_core(next_f)) @@ -550,7 +586,6 @@ def create_consequent(self, next_f): self.current_agent = None consequent_preds.extend(self.create_consequent_core(next_f)) return consequent_preds - def check_ant_format(self, next_f) -> bool: """ @@ -560,15 +595,15 @@ def check_ant_format(self, next_f) -> bool: When we have a "When," we have to check the when effect against the RML format. Another note: it's OK if the RML has no BDI term and the predicate does. - In that case, the RML functions as a general "catch-all." + In that case, the RML functions as a general "catch-all." However, if the RML has a BDI term, then the BDI term is of some relevance, and the predicate is expected to match it. """ if type(next_f) is And: - if len(next_f._operands) == 1: - next_f = next_f._operands[0] + if len(next_f._operands) == 1: + next_f = next_f._operands[0] elif type(next_f) is When: - # check the when effect against the rml + # check the when effect against the rml next_f = next_f.effect if type(next_f) is And: if len(next_f._operands) == 1: @@ -580,11 +615,16 @@ def check_ant_format(self, next_f) -> bool: # raise NotImplementedError("Handle complex when effects later?") # easiest thing to check first is the cond_type. - # if the cond_type is 'add', but the predicate is negated, + # if the cond_type is 'add', but the predicate is negated, # or vice versa, we know it doesn't match. - if "add" in self.ant_cond_type and next_f.negated or "del" in self.ant_cond_type and not next_f.negated: + if ( + "add" in self.ant_cond_type + and next_f.negated + or "del" in self.ant_cond_type + and not next_f.negated + ): return False - + # explained in the docstring if self.ant_rml.bdi and not next_f.bdi: return False @@ -595,54 +635,74 @@ def check_ant_format(self, next_f) -> bool: if not self.ant_rml.bdi and next_f.bdi and "soft" not in self.ant_cond_type: return False - if (not self.ant_rml.bdi and next_f.bdi) or (not self.ant_rml.bdi and not next_f.bdi): + if (not self.ant_rml.bdi and next_f.bdi) or ( + not self.ant_rml.bdi and not next_f.bdi + ): # get the variable assignments if type(self.ant_rml) is Predicate: # need to check the predicate itself - if self.ant_rml.name != next_f.name or len(self.ant_rml.terms) != len(next_f.terms): + if self.ant_rml.name != next_f.name or len(self.ant_rml.terms) != len( + next_f.terms + ): return False for i in range(len(self.ant_rml.terms)): if i < len(next_f.terms): - self.assignment[self.ant_rml.terms[i].name] = next_f.terms[i].name + self.assignment[self.ant_rml.terms[i].name] = next_f.terms[ + i + ].name return True # if we've gotten to this point, both have bdi. # however these could still be different kinds. if type(self.ant_rml.bdi) != type(next_f.bdi): return False - + # need to check the nested terms as well if len(self.ant_rml.bdi.nested) != len(next_f.bdi.nested): return False - + # now we can check the full bdi terms, knowing they're the same type. # note: we don't care what the agent is, we're just checking for the overall structure - if self.ant_rml.bdi.negate_inner_rml == next_f.bdi.negate_inner_rml and \ - self.ant_rml.bdi.hard_bdi == next_f.bdi.hard_bdi: - for i in range(len(self.ant_rml.bdi.nested)): - if type(self.ant_rml.bdi.nested[i]) != type(next_f.bdi.nested[i]) or \ - self.ant_rml.bdi.nested[i].negate_inner_rml != next_f.bdi.nested[i].negate_inner_rml or \ - self.ant_rml.bdi.nested[i].hard_bdi != next_f.bdi.nested[i].hard_bdi: - return False - else: + if ( + self.ant_rml.bdi.negate_inner_rml == next_f.bdi.negate_inner_rml + and self.ant_rml.bdi.hard_bdi == next_f.bdi.hard_bdi + ): + for i in range(len(self.ant_rml.bdi.nested)): + if ( + type(self.ant_rml.bdi.nested[i]) != type(next_f.bdi.nested[i]) + or self.ant_rml.bdi.nested[i].negate_inner_rml + != next_f.bdi.nested[i].negate_inner_rml + or self.ant_rml.bdi.nested[i].hard_bdi + != next_f.bdi.nested[i].hard_bdi + ): + return False + else: return False # gather the assignments self.assignment[self.ant_rml.bdi.agent.name] = next_f.bdi.agent.name for i in range(len(self.ant_rml.bdi.nested)): - self.assignment[self.ant_rml.bdi.nested[i].agent.name] = next_f.bdi.nested[i].agent.name + self.assignment[self.ant_rml.bdi.nested[i].agent.name] = next_f.bdi.nested[ + i + ].agent.name # also get the variable assignments if type(self.ant_rml) is Predicate: # need to check the predicate itself - if self.ant_rml.name != next_f.name or len(self.ant_rml.terms) != len(next_f.terms): + if self.ant_rml.name != next_f.name or len(self.ant_rml.terms) != len( + next_f.terms + ): return False for i in range(len(self.ant_rml.terms)): if i < len(next_f.terms): self.assignment[self.ant_rml.terms[i].name] = next_f.terms[i].name return True + def check_nesting(cons, depth): + """Ensure nested BDI depth in a consequent does not exceed ``depth``.""" if type(cons) is When: - return check_nesting(cons.condition, depth) and check_nesting(cons.effect, depth) + return check_nesting(cons.condition, depth) and check_nesting( + cons.effect, depth + ) elif type(cons) is And: for o in cons.operands: if not check_nesting(o, depth): @@ -654,19 +714,57 @@ def check_nesting(cons, depth): else: return len(cons.bdi.nested) + 1 <= depth -def apply_cond_eff(anc_effs, o, derive_condition, agents, depth, predicates, objects, effs_to_apply=None): + +def gen_id(cond): + """Generate a unique ID for a condition based on its string representation.""" + # make it a unique 5-character hash + import hashlib + + m = hashlib.md5() + m.update(str(hash(cond)).encode("utf-8")) + return m.hexdigest()[:8] + + +def apply_cond_eff( + anc_effs, + o, + derive_condition, + agents, + depth, + predicates, + objects, + effs_to_apply=None, +): """Adapted from pdlb.actions.Action._expand.""" + + mapping = {} + debug_condeffs = [ + "(when (and (not_at_alice_l1) (at_alice_l1) (not_at_bob_l1) (at_bob_l1)) (Bbob_Balice_secret_alice))", + "(when (and (not_at_alice_l1) (not_at_bob_l1) (at_bob_l1)) (not (PBbob_Balice_not_secret_alice)))", + "(when (and (at_bob_l1) (not_at_bob_l1)) (PBbob_secret_alice))", + "(when (and (at_alice_l2) (not (not_loves_alice_bob)) (not (together_alice_bob)) (not (together_cindy_bob))) (rivals_alice_cindy))" + ] + + o.id = gen_id(o) + o.parent = None condleft = [o] processed_conds = set() - anc_effs_to_apply = [a for a in anc_effs if a[2].value in effs_to_apply] if effs_to_apply else anc_effs + anc_effs_to_apply = ( + [a for a in anc_effs if a[2].value in effs_to_apply] + if effs_to_apply + else anc_effs + ) while condleft: next_f = condleft.pop(0) # check the antecedent format if next_f not in processed_conds: + mapping[str(next_f).strip()] = next_f processed_conds.add(next_f) for anc_eff in anc_effs_to_apply: - anc_eff_data = ApplyCondEff(anc_eff, derive_condition, agents, depth, predicates, objects) - # if anc_eff_data.name != "follower-adopt-belief":#not in ["negation-removal", "kd45closure__belief", "kd45-un-closure__belief", "uncertain-firing", "mutual-awareness-pos__belief", "mutual-awareness-neg__belief"]:#"negation-removal", "kd45-un-closure", "uncertain-firing", + anc_eff_data = ApplyCondEff( + anc_eff, derive_condition, agents, depth, predicates, objects + ) + # if anc_eff_data.name != "follower-adopt-belief":#not in ["negation-removal", "kd45closure__belief", "kd45-un-closure__belief", "uncertain-firing", "mutual-awareness-pos__belief", "mutual-awareness-neg__belief"]:#"negation-removal", "kd45-un-closure", "uncertain-firing", # continue # if str(next_f) == "(Dcindy_loves_bob_cindy)": @@ -674,37 +772,70 @@ def apply_cond_eff(anc_effs, o, derive_condition, agents, depth, predicates, obj if anc_eff_data.check_ant_format(next_f): # print(anc_eff_data.name) # print(f"next cond: {next_f}") - + # if anc_eff_data.name == "mutual-awareness-neg__belief": # if str(next_f) == "(when (and (not (not_at_alice_l1)) (not (Balice_not_loves_bob_alice))) (not (PBalice_not_loves_bob_alice)))":#"(when (and (at_alice_l1) (Balice_not_loves_bob_alice)) (Balice_loves_bob_alice))": # print() cons = anc_eff_data.create_consequent(deepcopy(next_f)) # cons = list(set(cons)) - # remove extraneous BDI terms) + # remove extraneous BDI terms) for i in range(len(cons)): if type(cons[i]) is When: - cond = set([remove_extra_bdi(c) for c in cons[i].condition.operands]) + cond = set( + [ + remove_extra_bdi(c) + for c in cons[i].condition.operands + ] + ) and_cond = And(*[]) and_cond._operands.extend(sorted(cond)) - eff = set([remove_extra_bdi(c) for c in cons[i].effect.operands]) if type(cons[i].effect) is And else [remove_extra_bdi(cons[i].effect)] + eff = ( + set( + [ + remove_extra_bdi(c) + for c in cons[i].effect.operands + ] + ) + if type(cons[i].effect) is And + else [remove_extra_bdi(cons[i].effect)] + ) # and_eff = And(*[]) # and_eff._operands.extend(sorted(cond)) cons[i] = When(and_cond, And(*eff)) else: cons[i] = remove_extra_bdi(cons[i]) - cons[i].comment = anc_eff_data.name + cons[i].id = gen_id(cons[i]) + cons[i].comment = ( + anc_eff_data.name + + f" id({cons[i].id}) / parent({next_f.id})" + ) for c in cons: if check_nesting(c, depth): # if c not in processed_conds and c not in condleft: # print(c) + c.parent = next_f condleft.append(c) # if anc_eff_data.name == "mutual-awareness-neg__belief": # print() # print("----") - return list(processed_conds - {o}) # already have o + + for debug_condeff in debug_condeffs: + if debug_condeff and debug_condeff.strip() in mapping: + debug_condeff = mapping[debug_condeff] + print("=====\n") + print(f"Original: {debug_condeff}") + while debug_condeff.parent: + print(f"\nDerived via {debug_condeff.comment.split(' ')[0]} from...\n") + debug_condeff = debug_condeff.parent + print(debug_condeff) + print("\n=====") + + return list(processed_conds - {o}) # already have o + # TODO: clean this up def remove_extra_bdi(term): + """Strip redundant NegateOnly nesting introduced during expansion.""" if term.bdi: if type(term.bdi) is NegateOnly: if not term.bdi.negate_inner_rml: @@ -730,13 +861,15 @@ def remove_extra_bdi(term): term.bdi.nested = new_nested return term + def all_rmls(domain, depth): + """Generate all reachable RMLs up to ``depth`` levels of nesting for a domain.""" # we just said screw it here and compared the strings because of set hashing issues. all_rmls = set() curr = [deepcopy(p) for p in domain.predicates] for d in range(1, depth + 1): - + # Generate raw expansions raw = [] for ag in domain._agents: @@ -746,7 +879,8 @@ def all_rmls(domain, depth): # ---- generate BDI variants ---- variants = [] - if d == 1: + # Only add the negation variation at depth 1 for the non-AK fluents + if d == 1 and not rml.always_known: x = deepcopy(rml) x.bdi = NegateOnly(True) variants.append(x) @@ -756,7 +890,9 @@ def all_rmls(domain, depth): for neg in (False, True): for hard in (True, False): x = deepcopy(rml) - x.bdi = typ(negate_inner_rml=neg, hard_bdi=hard, agent=agent) + x.bdi = typ( + negate_inner_rml=neg, hard_bdi=hard, agent=agent + ) variants.append(x) # ---- nesting rules ---- @@ -790,9 +926,11 @@ def all_rmls(domain, depth): all_rmls.update(domain.predicates) return all_rmls + def apply_cond_effs(anc_effs, domain, problem): + """Apply ancillary effects to every action/init/goal and return updated domain/problem.""" start = time.time() - timeout = 30*60 + timeout = 30 * 60 if type(anc_effs) is list: new_anc_effs = [] for e in anc_effs: @@ -801,11 +939,19 @@ def apply_cond_effs(anc_effs, domain, problem): else: anc_effs = anc_effs._anceffs depth = int(problem.depth[2].value) - for action in domain.actions: + for action in domain.actions: # if action.name != "fall-in-love_cindy_bob_l1": # continue for o in action.effect.operands: - new_preds = apply_cond_eff(anc_effs, o, action.derive_condition, domain._agents, depth, domain.predicates, problem.objects) + new_preds = apply_cond_eff( + anc_effs, + o, + action.derive_condition, + domain._agents, + depth, + domain.predicates, + problem.objects, + ) if time.time() - start > timeout: raise TimeoutError("Preprocessing exceeded 30-minute time limit.") if new_preds: @@ -820,7 +966,16 @@ def apply_cond_effs(anc_effs, domain, problem): init = set(problem.init) for p in problem.init: - new_preds = apply_cond_eff(anc_effs, p, None, domain._agents, depth, domain.predicates, problem.objects, ["kd45closure"]) + new_preds = apply_cond_eff( + anc_effs, + p, + None, + domain._agents, + depth, + domain.predicates, + problem.objects, + ["kd45closure"], + ) if new_preds: for n in new_preds: if not n.negated: @@ -830,7 +985,9 @@ def apply_cond_effs(anc_effs, domain, problem): # also need to close omniscience of the root agent for rml in predicates: if rml.bdi: - if rml.bdi.hard_bdi == False: # need to check False specifically, not None + if ( + rml.bdi.hard_bdi == False + ): # need to check False specifically, not None rml_neg = deepcopy(rml) rml_neg.bdi.negate() # have to do this instead of using "rml_neg in init" because of a weird @@ -839,23 +996,37 @@ def apply_cond_effs(anc_effs, domain, problem): if not any(rml_neg == p for p in init): to_add.add(rml) init.update(to_add) - goal = set(problem.goal._operands) if type(problem.goal) is And else set(problem.goal) + goal = ( + set(problem.goal._operands) if type(problem.goal) is And else set(problem.goal) + ) for p in goal: - goal.update(apply_cond_eff(anc_effs, p, None, domain._agents, depth, domain.predicates, problem.objects, ["kd45closure"])) + goal.update( + apply_cond_eff( + anc_effs, + p, + None, + domain._agents, + depth, + domain.predicates, + problem.objects, + ["kd45closure"], + ) + ) and_goal = And(*[]) and_goal._operands.extend(goal) domain = Domain( - name=domain.name, - requirements=domain.requirements, - types=domain.types, - constants=domain.constants, + name=domain.name, + requirements=domain.requirements, + types=domain.types, + constants=domain.constants, predicates=predicates, - derived_predicates=domain.derived_predicates, - functions=domain.functions, - actions=domain.actions, - agents=domain._agents) + derived_predicates=domain.derived_predicates, + functions=domain.functions, + actions=domain.actions, + agents=domain._agents, + ) problem = Problem( name=domain.name, @@ -868,7 +1039,7 @@ def apply_cond_effs(anc_effs, domain, problem): task=problem.task[2].value, init_type=problem.init_type[2].value, plan=problem.plan, - projection=problem.projection + projection=problem.projection, ) - return domain, problem \ No newline at end of file + return domain, problem diff --git a/bdi_extension/bdi-grapevine/domain.pdkbddl b/bdi_extension/bdi-grapevine/domain.pdkbddl index de27db5..ef89d60 100644 --- a/bdi_extension/bdi-grapevine/domain.pdkbddl +++ b/bdi_extension/bdi-grapevine/domain.pdkbddl @@ -12,7 +12,7 @@ :derive-condition always :parameters (?a - agent ?l1 ?l2 - loc) :precondition (and (at ?a ?l1) (connected ?l1 ?l2)) - :effect (and (at ?a ?l2) (!at ?a ?l1)) + :effect (and (at ?a ?l2) (not (at ?a ?l1))) ) (:action share diff --git a/bdi_extension/bdi-grapevine/output_1.txt b/bdi_extension/bdi-grapevine/output_1.txt index 34b836d..4ee19ff 100644 --- a/bdi_extension/bdi-grapevine/output_1.txt +++ b/bdi_extension/bdi-grapevine/output_1.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.070s CPU, 0.072s wall-clock] -Normalizing task... [0.000s CPU, 0.002s wall-clock] +Parsing: [0.010s CPU, 0.014s wall-clock] +Normalizing task... [0.000s CPU, 0.000s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.001s wall-clock] +Generating Datalog program... [0.000s CPU, 0.000s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.006s wall-clock] -Preparing model... [0.000s CPU, 0.003s wall-clock] -Generated 445 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.010s CPU, 0.004s wall-clock] +Preparing model... [0.000s CPU, 0.001s wall-clock] +Generated 121 rules. +Computing model... [0.000s CPU, 0.000s wall-clock] 347 relevant atoms 0 auxiliary atoms 347 final queue length -439 total queue pushes -Completing instantiation... [0.010s CPU, 0.003s wall-clock] -Instantiating: [0.020s CPU, 0.014s wall-clock] +435 total queue pushes +Completing instantiation... [0.000s CPU, 0.001s wall-clock] +Instantiating: [0.010s CPU, 0.007s wall-clock] Computing fact groups... Finding invariants... -56 initial candidates -Finding invariants: [0.000s CPU, 0.001s wall-clock] +52 initial candidates +Finding invariants: [7.250s CPU, 7.250s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 38 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.000s CPU, 0.002s wall-clock] +Computing fact groups: [7.250s CPU, 7.250s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,31 +44,31 @@ Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] Translating task: [0.000s CPU, 0.002s wall-clock] -40 effect conditions simplified +44 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... -2 operators removed +0 operators removed 0 axioms removed -32 propositions removed +28 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.000s wall-clock] Reordering and filtering variables... -3 of 22 variables necessary. +5 of 24 variables necessary. 0 of 0 mutex groups necessary. -4 of 10 operators necessary. +6 of 12 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] -Translator variables: 3 +Translator variables: 5 Translator derived variables: 0 -Translator facts: 6 +Translator facts: 10 Translator goal facts: 1 Translator mutex groups: 0 Translator total mutex groups size: 0 -Translator operators: 4 +Translator operators: 6 Translator axioms: 0 -Translator task size: 20 -Translator peak memory: 34744 KB -Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [0.090s CPU, 0.095s wall-clock] +Translator task size: 40 +Translator peak memory: 204732 KB +Writing output... [0.000s CPU, 0.000s wall-clock] +Done! [7.270s CPU, 7.275s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,61 +76,61 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009325s, 12120 KB] reading input... -[t=0.010080s, 12120 KB] done reading input! -[t=0.014408s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014408s, 12384 KB] Generating landmark graph... -[t=0.014408s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014408s, 12384 KB] Initializing Exploration... -[t=0.014408s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014408s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014408s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014408s, 12384 KB] 1 edges -[t=0.014408s, 12384 KB] approx. reasonable orders -[t=0.014408s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014408s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014408s, 12384 KB] 1 edges -[t=0.014408s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014408s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014408s, 12384 KB] Landmark graph contains 1 orderings. -[t=0.014408s, 12384 KB] Simplifying 4 unary operators... done! [4 unary operators] -[t=0.014408s, 12384 KB] time to simplify: 0.000000s -[t=0.014408s, 12384 KB] Initializing additive heuristic... -[t=0.014408s, 12384 KB] Initializing FF heuristic... -[t=0.014408s, 12384 KB] Building successor generator...done! -[t=0.014408s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014408s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014408s, 12384 KB] Variables: 3 -[t=0.016023s, 12384 KB] FactPairs: 6 -[t=0.016023s, 12384 KB] Bytes per state: 4 -[t=0.016023s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016023s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.016023s, 12516 KB] New best heuristic value for ff: 2 -[t=0.016023s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.016023s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 -[t=0.016023s, 12516 KB] Initial heuristic value for ff: 2 -[t=0.016023s, 12516 KB] New best heuristic value for ff: 1 -[t=0.016023s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.016023s, 12516 KB] Solution found! -[t=0.016023s, 12516 KB] Actual search time: 0.000000s -move_alice_l1_l2 (1) -share_bob_bob_l2 (1) -[t=0.016023s, 12516 KB] Plan length: 2 step(s). -[t=0.016023s, 12516 KB] Plan cost: 2 -[t=0.016023s, 12516 KB] Expanded 2 state(s). -[t=0.016023s, 12516 KB] Reopened 0 state(s). -[t=0.016023s, 12516 KB] Evaluated 3 state(s). -[t=0.016023s, 12516 KB] Evaluations: 6 -[t=0.016023s, 12516 KB] Generated 6 state(s). -[t=0.016023s, 12516 KB] Dead ends: 0 state(s). -[t=0.016023s, 12516 KB] Number of registered states: 3 -[t=0.016023s, 12516 KB] Int hash set load factor: 3/4 = 0.750000 -[t=0.016023s, 12516 KB] Int hash set resizes: 2 -[t=0.016023s, 12516 KB] Search time: 0.000000s -[t=0.016023s, 12516 KB] Total time: 0.016023s +[t=0.011972s, 12120 KB] reading input... +[t=0.012843s, 12120 KB] done reading input! +[t=0.017844s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017844s, 12384 KB] Generating landmark graph... +[t=0.017844s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017844s, 12384 KB] Initializing Exploration... +[t=0.017844s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017844s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017844s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017844s, 12384 KB] 1 edges +[t=0.017844s, 12384 KB] approx. reasonable orders +[t=0.017844s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017844s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017844s, 12384 KB] 1 edges +[t=0.017844s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017844s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017844s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.017844s, 12384 KB] Simplifying 10 unary operators... done! [10 unary operators] +[t=0.017844s, 12384 KB] time to simplify: 0.000000s +[t=0.017844s, 12384 KB] Initializing additive heuristic... +[t=0.017844s, 12384 KB] Initializing FF heuristic... +[t=0.017844s, 12384 KB] Building successor generator...done! +[t=0.017844s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017844s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017844s, 12384 KB] Variables: 5 +[t=0.017844s, 12384 KB] FactPairs: 10 +[t=0.017844s, 12384 KB] Bytes per state: 4 +[t=0.017844s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017844s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017844s, 12520 KB] New best heuristic value for ff: 2 +[t=0.017844s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.017844s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.017844s, 12520 KB] Initial heuristic value for ff: 2 +[t=0.017844s, 12520 KB] New best heuristic value for ff: 1 +[t=0.017844s, 12520 KB] g=1, 2 evaluated, 1 expanded +[t=0.017844s, 12520 KB] Solution found! +[t=0.017844s, 12520 KB] Actual search time: 0.000000s +move_bob_l2_l1 (1) +share_bob_bob_l1 (1) +[t=0.017844s, 12520 KB] Plan length: 2 step(s). +[t=0.017844s, 12520 KB] Plan cost: 2 +[t=0.017844s, 12520 KB] Expanded 2 state(s). +[t=0.017844s, 12520 KB] Reopened 0 state(s). +[t=0.017844s, 12520 KB] Evaluated 3 state(s). +[t=0.017844s, 12520 KB] Evaluations: 6 +[t=0.017844s, 12520 KB] Generated 6 state(s). +[t=0.017844s, 12520 KB] Dead ends: 0 state(s). +[t=0.017844s, 12520 KB] Number of registered states: 3 +[t=0.017844s, 12520 KB] Int hash set load factor: 3/4 = 0.750000 +[t=0.017844s, 12520 KB] Int hash set resizes: 2 +[t=0.017844s, 12520 KB] Search time: 0.000000s +[t=0.017844s, 12520 KB] Total time: 0.017844s Solution found. -Peak memory: 12516 KB +Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.36s +INFO Planner time: 7.59s diff --git a/bdi_extension/bdi-grapevine/output_10.txt b/bdi_extension/bdi-grapevine/output_10.txt index 3f35aad..94272a8 100644 --- a/bdi_extension/bdi-grapevine/output_10.txt +++ b/bdi_extension/bdi-grapevine/output_10.txt @@ -7,10 +7,138 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing domain -Expected a non-empty block starting with any of the following words: :requirements, :types, :constants, :predicates, :functions, :derived, :action -Got: [':agents', 'alice', 'bob', 'cindy', 'derek', 'evelyn'] -translate exit code: 31 +Parsing: [26.140s CPU, 26.121s wall-clock] +Normalizing task... [1.490s CPU, 1.483s wall-clock] +Instantiating... +Generating Datalog program... [1.050s CPU, 1.067s wall-clock] +Normalizing Datalog program... +Normalizing Datalog program: [0.370s CPU, 0.377s wall-clock] +Preparing model... [1.420s CPU, 1.420s wall-clock] +Generated 54916 rules. +Computing model... [0.190s CPU, 0.192s wall-clock] +140078 relevant atoms +0 auxiliary atoms +140078 final queue length +150674 total queue pushes +Completing instantiation... [1.010s CPU, 1.016s wall-clock] +Instantiating: [4.130s CPU, 4.155s wall-clock] +Computing fact groups... +Finding invariants... +7315 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.150s CPU, 10.146s wall-clock] +Checking invariant weight... [0.030s CPU, 0.032s wall-clock] +Instantiating groups... [0.000s CPU, 0.002s wall-clock] +Collecting mutex groups... [0.000s CPU, 0.002s wall-clock] +Choosing groups... +4029 uncovered facts +Choosing groups: [0.000s CPU, 0.003s wall-clock] +Building translation key... [0.010s CPU, 0.006s wall-clock] +Computing fact groups: [10.220s CPU, 10.215s wall-clock] +Building STRIPS to SAS dictionary... [0.000s CPU, 0.003s wall-clock] +Building dictionary for full mutex groups... [0.000s CPU, 0.002s wall-clock] +Building mutex information... +Building mutex information: [0.000s CPU, 0.003s wall-clock] +Translating task... +Processing axioms... +Simplifying axioms... [0.000s CPU, 0.000s wall-clock] +Translator axioms removed by simplifying: 0 +Processing axioms: [0.010s CPU, 0.007s wall-clock] +Translating task: [0.210s CPU, 0.202s wall-clock] +5480 effect conditions simplified +0 implied preconditions added +Detecting unreachable propositions... +0 operators removed +0 axioms removed +6572 propositions removed +Detecting unreachable propositions: [0.050s CPU, 0.049s wall-clock] +Reordering and filtering variables... +20 of 743 variables necessary. +0 of 0 mutex groups necessary. +35 of 35 operators necessary. +0 of 0 axiom rules necessary. +Reordering and filtering variables: [0.010s CPU, 0.019s wall-clock] +Translator variables: 20 +Translator derived variables: 0 +Translator facts: 40 +Translator goal facts: 1 +Translator mutex groups: 0 +Translator total mutex groups size: 0 +Translator operators: 35 +Translator axioms: 0 +Translator task size: 330 +Translator peak memory: 398584 KB +Writing output... [0.000s CPU, 0.001s wall-clock] +Done! [42.260s CPU, 42.263s wall-clock] +translate exit code: 0 -Driver aborting after translate -INFO Planner time: 0.23s +INFO Running search (release). +INFO search stdin: output.sas +INFO search time limit: 1800s +INFO search memory limit: None +INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas +[t=0.011114s, 12120 KB] reading input... +[t=0.011986s, 12120 KB] done reading input! +[t=0.016994s, 12384 KB] Initializing landmark sum heuristic... +[t=0.016994s, 12384 KB] Generating landmark graph... +[t=0.016994s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.016994s, 12384 KB] Initializing Exploration... +[t=0.016994s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.016994s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.016994s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016994s, 12384 KB] 1 edges +[t=0.016994s, 12384 KB] approx. reasonable orders +[t=0.016994s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.016994s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016994s, 12384 KB] 1 edges +[t=0.016994s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.016994s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016994s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.016994s, 12384 KB] Simplifying 103 unary operators... done! [98 unary operators] +[t=0.016994s, 12384 KB] time to simplify: 0.000000s +[t=0.016994s, 12384 KB] Initializing additive heuristic... +[t=0.016994s, 12384 KB] Initializing FF heuristic... +[t=0.016994s, 12384 KB] Building successor generator...done! +[t=0.016994s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.016994s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.016994s, 12384 KB] Variables: 20 +[t=0.016994s, 12384 KB] FactPairs: 40 +[t=0.016994s, 12384 KB] Bytes per state: 4 +[t=0.016994s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.016994s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.016994s, 12520 KB] New best heuristic value for ff: 4 +[t=0.016994s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.016994s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.016994s, 12520 KB] Initial heuristic value for ff: 4 +[t=0.016994s, 12520 KB] New best heuristic value for ff: 3 +[t=0.016994s, 12520 KB] g=1, 2 evaluated, 1 expanded +[t=0.016994s, 12520 KB] New best heuristic value for ff: 2 +[t=0.016994s, 12520 KB] g=2, 3 evaluated, 2 expanded +[t=0.016994s, 12520 KB] New best heuristic value for ff: 1 +[t=0.016994s, 12520 KB] g=3, 4 evaluated, 3 expanded +[t=0.016994s, 12520 KB] Solution found! +[t=0.016994s, 12520 KB] Actual search time: 0.000000s +move_evelyn_l1_l2 (1) +move_cindy_l3_l2 (1) +move_alice_l1_l2 (1) +share_alice_alice_l2 (1) +[t=0.016994s, 12520 KB] Plan length: 4 step(s). +[t=0.016994s, 12520 KB] Plan cost: 4 +[t=0.016994s, 12520 KB] Expanded 5 state(s). +[t=0.016994s, 12520 KB] Reopened 0 state(s). +[t=0.016994s, 12520 KB] Evaluated 6 state(s). +[t=0.016994s, 12520 KB] Evaluations: 12 +[t=0.016994s, 12520 KB] Generated 42 state(s). +[t=0.016994s, 12520 KB] Dead ends: 0 state(s). +[t=0.016994s, 12520 KB] Number of registered states: 6 +[t=0.016994s, 12520 KB] Int hash set load factor: 6/8 = 0.750000 +[t=0.016994s, 12520 KB] Int hash set resizes: 3 +[t=0.016994s, 12520 KB] Search time: 0.000000s +[t=0.016994s, 12520 KB] Total time: 0.016994s +Solution found. +Peak memory: 12520 KB +Remove intermediate file output.sas +search exit code: 0 + +INFO Planner time: 42.69s +Oh, \ No newline at end of file diff --git a/bdi_extension/bdi-grapevine/output_2.txt b/bdi_extension/bdi-grapevine/output_2.txt index f334d2e..ddcdf23 100644 --- a/bdi_extension/bdi-grapevine/output_2.txt +++ b/bdi_extension/bdi-grapevine/output_2.txt @@ -7,33 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.800s CPU, 0.798s wall-clock] -Normalizing task... [0.020s CPU, 0.023s wall-clock] +Parsing: [0.070s CPU, 0.076s wall-clock] +Normalizing task... [0.010s CPU, 0.003s wall-clock] Instantiating... -Generating Datalog program... [0.020s CPU, 0.020s wall-clock] +Generating Datalog program... [0.000s CPU, 0.002s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.020s CPU, 0.021s wall-clock] -Preparing model... [0.040s CPU, 0.042s wall-clock] -Generated 3988 rules. -Computing model... [0.000s CPU, 0.003s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.007s wall-clock] +Preparing model... [0.010s CPU, 0.006s wall-clock] +Generated 892 rules. +Computing model... [0.000s CPU, 0.001s wall-clock] 1084 relevant atoms 0 auxiliary atoms 1084 final queue length -1358 total queue pushes -Completing instantiation... [0.010s CPU, 0.011s wall-clock] -Instantiating: [0.100s CPU, 0.099s wall-clock] +1346 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.010s CPU, 0.019s wall-clock] Computing fact groups... Finding invariants... -198 initial candidates -Finding invariants: [0.000s CPU, 0.006s wall-clock] +189 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.070s CPU, 10.051s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 113 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] -Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.000s CPU, 0.007s wall-clock] +Building translation key... [0.010s CPU, 0.000s wall-clock] +Computing fact groups: [10.080s CPU, 10.052s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -42,33 +43,33 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.010s CPU, 0.001s wall-clock] -Translating task: [0.010s CPU, 0.007s wall-clock] -126 effect conditions simplified +Processing axioms: [0.000s CPU, 0.000s wall-clock] +Translating task: [0.000s CPU, 0.004s wall-clock] +138 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... -4 operators removed +0 operators removed 0 axioms removed -158 propositions removed +152 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -9 of 34 variables necessary. +12 of 37 variables necessary. 0 of 0 mutex groups necessary. -17 of 17 operators necessary. +21 of 21 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] -Translator variables: 9 +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Translator variables: 12 Translator derived variables: 0 -Translator facts: 18 +Translator facts: 24 Translator goal facts: 1 Translator mutex groups: 0 Translator total mutex groups size: 0 -Translator operators: 17 +Translator operators: 21 Translator axioms: 0 -Translator task size: 106 -Translator peak memory: 58296 KB +Translator task size: 154 +Translator peak memory: 121788 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.930s CPU, 0.937s wall-clock] +Done! [10.170s CPU, 10.157s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,64 +77,64 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009876s, 12120 KB] reading input... -[t=0.010580s, 12120 KB] done reading input! -[t=0.014657s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014657s, 12384 KB] Generating landmark graph... -[t=0.014657s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014657s, 12384 KB] Initializing Exploration... -[t=0.014657s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014657s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014657s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014657s, 12384 KB] 1 edges -[t=0.014657s, 12384 KB] approx. reasonable orders -[t=0.014657s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014657s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014657s, 12384 KB] 1 edges -[t=0.014657s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014657s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014657s, 12384 KB] Landmark graph contains 1 orderings. -[t=0.014657s, 12384 KB] Simplifying 29 unary operators... done! [23 unary operators] -[t=0.014657s, 12384 KB] time to simplify: 0.000000s -[t=0.014657s, 12384 KB] Initializing additive heuristic... -[t=0.014657s, 12384 KB] Initializing FF heuristic... -[t=0.014657s, 12384 KB] Building successor generator...done! -[t=0.014657s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014657s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014657s, 12384 KB] Variables: 9 -[t=0.014657s, 12384 KB] FactPairs: 18 -[t=0.014657s, 12384 KB] Bytes per state: 4 -[t=0.016294s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016294s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.016294s, 12516 KB] New best heuristic value for ff: 3 -[t=0.016294s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.016294s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 -[t=0.016294s, 12516 KB] Initial heuristic value for ff: 3 -[t=0.016294s, 12516 KB] New best heuristic value for ff: 2 -[t=0.016294s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.016294s, 12516 KB] New best heuristic value for ff: 1 -[t=0.016294s, 12516 KB] g=2, 3 evaluated, 2 expanded -[t=0.016294s, 12516 KB] Solution found! -[t=0.016294s, 12516 KB] Actual search time: 0.000000s -move_alice_l1_l2 (1) +[t=0.012404s, 12120 KB] reading input... +[t=0.013279s, 12120 KB] done reading input! +[t=0.018470s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018470s, 12384 KB] Generating landmark graph... +[t=0.018470s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018470s, 12384 KB] Initializing Exploration... +[t=0.018470s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018470s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018470s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018470s, 12384 KB] 1 edges +[t=0.018470s, 12384 KB] approx. reasonable orders +[t=0.018470s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018470s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018470s, 12384 KB] 1 edges +[t=0.018470s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018470s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018470s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.018470s, 12384 KB] Simplifying 45 unary operators... done! [42 unary operators] +[t=0.018470s, 12384 KB] time to simplify: 0.000000s +[t=0.018470s, 12384 KB] Initializing additive heuristic... +[t=0.018470s, 12384 KB] Initializing FF heuristic... +[t=0.018470s, 12384 KB] Building successor generator...done! +[t=0.018470s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018470s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018470s, 12384 KB] Variables: 12 +[t=0.018470s, 12384 KB] FactPairs: 24 +[t=0.018470s, 12384 KB] Bytes per state: 4 +[t=0.018470s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018470s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018470s, 12516 KB] New best heuristic value for ff: 3 +[t=0.018470s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.018470s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.018470s, 12516 KB] Initial heuristic value for ff: 3 +[t=0.018470s, 12516 KB] New best heuristic value for ff: 2 +[t=0.018470s, 12516 KB] g=1, 2 evaluated, 1 expanded +[t=0.018470s, 12516 KB] New best heuristic value for ff: 1 +[t=0.018470s, 12516 KB] g=2, 3 evaluated, 2 expanded +[t=0.018470s, 12516 KB] Solution found! +[t=0.018470s, 12516 KB] Actual search time: 0.000000s move_cindy_l3_l2 (1) +move_alice_l1_l2 (1) share_alice_alice_l2 (1) -[t=0.016294s, 12516 KB] Plan length: 3 step(s). -[t=0.016294s, 12516 KB] Plan cost: 3 -[t=0.016294s, 12516 KB] Expanded 3 state(s). -[t=0.016294s, 12516 KB] Reopened 0 state(s). -[t=0.016294s, 12516 KB] Evaluated 4 state(s). -[t=0.016294s, 12516 KB] Evaluations: 8 -[t=0.016294s, 12516 KB] Generated 20 state(s). -[t=0.016294s, 12516 KB] Dead ends: 0 state(s). -[t=0.016294s, 12516 KB] Number of registered states: 4 -[t=0.016294s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 -[t=0.016294s, 12516 KB] Int hash set resizes: 2 -[t=0.016294s, 12516 KB] Search time: 0.000000s -[t=0.016294s, 12516 KB] Total time: 0.016294s +[t=0.018470s, 12516 KB] Plan length: 3 step(s). +[t=0.018470s, 12516 KB] Plan cost: 3 +[t=0.018470s, 12516 KB] Expanded 3 state(s). +[t=0.018470s, 12516 KB] Reopened 0 state(s). +[t=0.018470s, 12516 KB] Evaluated 4 state(s). +[t=0.018470s, 12516 KB] Evaluations: 8 +[t=0.018470s, 12516 KB] Generated 18 state(s). +[t=0.018470s, 12516 KB] Dead ends: 0 state(s). +[t=0.018470s, 12516 KB] Number of registered states: 4 +[t=0.018470s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 +[t=0.018470s, 12516 KB] Int hash set resizes: 2 +[t=0.018470s, 12516 KB] Search time: 0.000000s +[t=0.018470s, 12516 KB] Total time: 0.018470s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 1.20s +INFO Planner time: 10.52s diff --git a/bdi_extension/bdi-grapevine/output_3.txt b/bdi_extension/bdi-grapevine/output_3.txt index 383b9ce..5bc8091 100644 --- a/bdi_extension/bdi-grapevine/output_3.txt +++ b/bdi_extension/bdi-grapevine/output_3.txt @@ -7,25 +7,26 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.930s CPU, 0.929s wall-clock] -Normalizing task... [0.030s CPU, 0.037s wall-clock] +Parsing: [0.070s CPU, 0.074s wall-clock] +Normalizing task... [0.010s CPU, 0.003s wall-clock] Instantiating... -Generating Datalog program... [0.010s CPU, 0.010s wall-clock] +Generating Datalog program... [0.000s CPU, 0.002s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.030s CPU, 0.023s wall-clock] -Preparing model... [0.040s CPU, 0.041s wall-clock] -Generated 4582 rules. -Computing model... [0.000s CPU, 0.003s wall-clock] +Normalizing Datalog program: [0.010s CPU, 0.007s wall-clock] +Preparing model... [0.000s CPU, 0.006s wall-clock] +Generated 892 rules. +Computing model... [0.000s CPU, 0.001s wall-clock] 1084 relevant atoms 0 auxiliary atoms 1084 final queue length -1358 total queue pushes -Completing instantiation... [0.010s CPU, 0.011s wall-clock] -Instantiating: [0.090s CPU, 0.091s wall-clock] +1346 total queue pushes +Completing instantiation... [0.010s CPU, 0.002s wall-clock] +Instantiating: [0.020s CPU, 0.019s wall-clock] Computing fact groups... Finding invariants... -198 initial candidates -Finding invariants: [0.020s CPU, 0.007s wall-clock] +189 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.060s CPU, 10.076s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +34,7 @@ Choosing groups... 113 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.020s CPU, 0.008s wall-clock] +Computing fact groups: [10.060s CPU, 10.077s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,32 +44,32 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.007s wall-clock] -126 effect conditions simplified +Translating task: [0.010s CPU, 0.005s wall-clock] +138 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... -4 operators removed +0 operators removed 0 axioms removed -158 propositions removed -Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] +152 propositions removed +Detecting unreachable propositions: [0.000s CPU, 0.002s wall-clock] Reordering and filtering variables... -9 of 34 variables necessary. +12 of 37 variables necessary. 0 of 0 mutex groups necessary. -17 of 17 operators necessary. +21 of 21 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] -Translator variables: 9 +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Translator variables: 12 Translator derived variables: 0 -Translator facts: 18 +Translator facts: 24 Translator goal facts: 1 Translator mutex groups: 0 Translator total mutex groups size: 0 -Translator operators: 17 +Translator operators: 21 Translator axioms: 0 -Translator task size: 106 -Translator peak memory: 60344 KB +Translator task size: 154 +Translator peak memory: 121788 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [1.080s CPU, 1.075s wall-clock] +Done! [10.170s CPU, 10.183s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,61 +77,61 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009198s, 12120 KB] reading input... -[t=0.009891s, 12120 KB] done reading input! -[t=0.014283s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014283s, 12384 KB] Generating landmark graph... -[t=0.014283s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014283s, 12384 KB] Initializing Exploration... -[t=0.014283s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014283s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014283s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014283s, 12384 KB] 1 edges -[t=0.014283s, 12384 KB] approx. reasonable orders -[t=0.014283s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014283s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014283s, 12384 KB] 1 edges -[t=0.014283s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014283s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014283s, 12384 KB] Landmark graph contains 1 orderings. -[t=0.014283s, 12384 KB] Simplifying 29 unary operators... done! [19 unary operators] -[t=0.014283s, 12384 KB] time to simplify: 0.000000s -[t=0.014283s, 12384 KB] Initializing additive heuristic... -[t=0.014283s, 12384 KB] Initializing FF heuristic... -[t=0.014283s, 12384 KB] Building successor generator...done! -[t=0.014283s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014283s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014283s, 12384 KB] Variables: 9 -[t=0.014283s, 12384 KB] FactPairs: 18 -[t=0.014283s, 12384 KB] Bytes per state: 4 -[t=0.014283s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.014283s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.014283s, 12516 KB] New best heuristic value for ff: 2 -[t=0.014283s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.014283s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 -[t=0.014283s, 12516 KB] Initial heuristic value for ff: 2 -[t=0.014283s, 12516 KB] New best heuristic value for ff: 1 -[t=0.014283s, 12516 KB] g=1, 3 evaluated, 2 expanded -[t=0.014283s, 12516 KB] Solution found! -[t=0.014283s, 12516 KB] Actual search time: 0.000000s +[t=0.012823s, 12120 KB] reading input... +[t=0.013314s, 12120 KB] done reading input! +[t=0.018380s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018380s, 12384 KB] Generating landmark graph... +[t=0.019989s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.019989s, 12384 KB] Initializing Exploration... +[t=0.019989s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.019989s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.019989s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019989s, 12384 KB] 1 edges +[t=0.019989s, 12384 KB] approx. reasonable orders +[t=0.019989s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.019989s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019989s, 12384 KB] 1 edges +[t=0.019989s, 12384 KB] Landmark graph generation time: 0.001609s +[t=0.019989s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019989s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.019989s, 12384 KB] Simplifying 45 unary operators... done! [42 unary operators] +[t=0.019989s, 12384 KB] time to simplify: 0.000000s +[t=0.019989s, 12384 KB] Initializing additive heuristic... +[t=0.019989s, 12384 KB] Initializing FF heuristic... +[t=0.019989s, 12384 KB] Building successor generator...done! +[t=0.019989s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.019989s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.019989s, 12384 KB] Variables: 12 +[t=0.019989s, 12384 KB] FactPairs: 24 +[t=0.019989s, 12384 KB] Bytes per state: 4 +[t=0.019989s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.019989s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.019989s, 12516 KB] New best heuristic value for ff: 2 +[t=0.019989s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.019989s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.019989s, 12516 KB] Initial heuristic value for ff: 2 +[t=0.019989s, 12516 KB] New best heuristic value for ff: 1 +[t=0.019989s, 12516 KB] g=1, 3 evaluated, 2 expanded +[t=0.019989s, 12516 KB] Solution found! +[t=0.019989s, 12516 KB] Actual search time: 0.000000s move_bob_l2_l1 (1) share_alice_alice_l1 (1) -[t=0.014283s, 12516 KB] Plan length: 2 step(s). -[t=0.014283s, 12516 KB] Plan cost: 2 -[t=0.014283s, 12516 KB] Expanded 3 state(s). -[t=0.014283s, 12516 KB] Reopened 0 state(s). -[t=0.014283s, 12516 KB] Evaluated 4 state(s). -[t=0.014283s, 12516 KB] Evaluations: 8 -[t=0.014283s, 12516 KB] Generated 17 state(s). -[t=0.014283s, 12516 KB] Dead ends: 0 state(s). -[t=0.014283s, 12516 KB] Number of registered states: 4 -[t=0.014283s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 -[t=0.014283s, 12516 KB] Int hash set resizes: 2 -[t=0.014283s, 12516 KB] Search time: 0.000000s -[t=0.014283s, 12516 KB] Total time: 0.014283s +[t=0.019989s, 12516 KB] Plan length: 2 step(s). +[t=0.019989s, 12516 KB] Plan cost: 2 +[t=0.019989s, 12516 KB] Expanded 3 state(s). +[t=0.019989s, 12516 KB] Reopened 0 state(s). +[t=0.019989s, 12516 KB] Evaluated 4 state(s). +[t=0.019989s, 12516 KB] Evaluations: 8 +[t=0.019989s, 12516 KB] Generated 15 state(s). +[t=0.019989s, 12516 KB] Dead ends: 0 state(s). +[t=0.019989s, 12516 KB] Number of registered states: 4 +[t=0.019989s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 +[t=0.019989s, 12516 KB] Int hash set resizes: 2 +[t=0.019989s, 12516 KB] Search time: 0.000000s +[t=0.019989s, 12516 KB] Total time: 0.019989s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 1.33s +INFO Planner time: 10.49s diff --git a/bdi_extension/bdi-grapevine/output_4.txt b/bdi_extension/bdi-grapevine/output_4.txt index 3ff7fb3..c8a37fe 100644 --- a/bdi_extension/bdi-grapevine/output_4.txt +++ b/bdi_extension/bdi-grapevine/output_4.txt @@ -7,25 +7,26 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.790s CPU, 0.794s wall-clock] -Normalizing task... [0.020s CPU, 0.025s wall-clock] +Parsing: [0.070s CPU, 0.074s wall-clock] +Normalizing task... [0.010s CPU, 0.003s wall-clock] Instantiating... -Generating Datalog program... [0.030s CPU, 0.022s wall-clock] +Generating Datalog program... [0.000s CPU, 0.002s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.020s CPU, 0.021s wall-clock] -Preparing model... [0.040s CPU, 0.042s wall-clock] -Generated 3988 rules. -Computing model... [0.000s CPU, 0.003s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.007s wall-clock] +Preparing model... [0.010s CPU, 0.006s wall-clock] +Generated 892 rules. +Computing model... [0.000s CPU, 0.001s wall-clock] 1084 relevant atoms 0 auxiliary atoms 1084 final queue length -1358 total queue pushes -Completing instantiation... [0.010s CPU, 0.011s wall-clock] -Instantiating: [0.100s CPU, 0.101s wall-clock] +1346 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.010s CPU, 0.019s wall-clock] Computing fact groups... Finding invariants... -198 initial candidates -Finding invariants: [0.010s CPU, 0.007s wall-clock] +189 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.120s CPU, 10.096s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +34,7 @@ Choosing groups... 113 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.010s CPU, 0.008s wall-clock] +Computing fact groups: [10.120s CPU, 10.097s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -42,9 +43,9 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.020s CPU, 0.007s wall-clock] -126 effect conditions simplified +Processing axioms: [0.000s CPU, 0.000s wall-clock] +Translating task: [0.010s CPU, 0.004s wall-clock] +138 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... Simplified to empty goal! Generating solvable task... @@ -58,9 +59,9 @@ Translator total mutex groups size: 0 Translator operators: 0 Translator axioms: 0 Translator task size: 4 -Translator peak memory: 58296 KB +Translator peak memory: 121788 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.940s CPU, 0.936s wall-clock] +Done! [10.220s CPU, 10.200s wall-clock] translate exit code: 0 INFO Running search (release). @@ -68,55 +69,55 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010184s, 12120 KB] reading input... -[t=0.010935s, 12120 KB] done reading input! -[t=0.015422s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015422s, 12384 KB] Generating landmark graph... -[t=0.015422s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015422s, 12384 KB] Initializing Exploration... -[t=0.015422s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015422s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015422s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015422s, 12384 KB] 0 edges -[t=0.015422s, 12384 KB] approx. reasonable orders -[t=0.015422s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015422s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015422s, 12384 KB] 0 edges -[t=0.015422s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015422s, 12384 KB] Landmark graph contains 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015422s, 12384 KB] Landmark graph contains 0 orderings. -[t=0.015422s, 12384 KB] Simplifying 0 unary operators... done! [0 unary operators] -[t=0.015422s, 12384 KB] time to simplify: 0.000000s -[t=0.015422s, 12384 KB] Initializing additive heuristic... -[t=0.015422s, 12384 KB] Initializing FF heuristic... -[t=0.015422s, 12384 KB] Building successor generator...done! -[t=0.015422s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015422s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015422s, 12384 KB] Variables: 1 -[t=0.015422s, 12384 KB] FactPairs: 2 -[t=0.015422s, 12384 KB] Bytes per state: 4 -[t=0.015422s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015422s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 0 -[t=0.015422s, 12516 KB] New best heuristic value for ff: 0 -[t=0.015422s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.015422s, 12516 KB] Solution found! -[t=0.015422s, 12516 KB] Actual search time: 0.000000s -[t=0.015422s, 12516 KB] Plan length: 0 step(s). -[t=0.015422s, 12516 KB] Plan cost: 0 -[t=0.015422s, 12516 KB] Expanded 0 state(s). -[t=0.015422s, 12516 KB] Reopened 0 state(s). -[t=0.015422s, 12516 KB] Evaluated 1 state(s). -[t=0.015422s, 12516 KB] Evaluations: 2 -[t=0.015422s, 12516 KB] Generated 0 state(s). -[t=0.015422s, 12516 KB] Dead ends: 0 state(s). -[t=0.015422s, 12516 KB] Number of registered states: 1 -[t=0.015422s, 12516 KB] Int hash set load factor: 1/1 = 1.000000 -[t=0.015422s, 12516 KB] Int hash set resizes: 0 -[t=0.015422s, 12516 KB] Search time: 0.000000s -[t=0.015422s, 12516 KB] Total time: 0.015422s +[t=0.013021s, 12120 KB] reading input... +[t=0.014568s, 12120 KB] done reading input! +[t=0.019587s, 12384 KB] Initializing landmark sum heuristic... +[t=0.019587s, 12384 KB] Generating landmark graph... +[t=0.019587s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.019587s, 12384 KB] Initializing Exploration... +[t=0.019587s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.019587s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.019587s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019587s, 12384 KB] 0 edges +[t=0.019587s, 12384 KB] approx. reasonable orders +[t=0.019587s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.019587s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019587s, 12384 KB] 0 edges +[t=0.019587s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.019587s, 12384 KB] Landmark graph contains 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019587s, 12384 KB] Landmark graph contains 0 orderings. +[t=0.019587s, 12384 KB] Simplifying 0 unary operators... done! [0 unary operators] +[t=0.019587s, 12384 KB] time to simplify: 0.000000s +[t=0.019587s, 12384 KB] Initializing additive heuristic... +[t=0.019587s, 12384 KB] Initializing FF heuristic... +[t=0.019587s, 12384 KB] Building successor generator...done! +[t=0.019587s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.019587s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.019587s, 12384 KB] Variables: 1 +[t=0.019587s, 12384 KB] FactPairs: 2 +[t=0.019587s, 12384 KB] Bytes per state: 4 +[t=0.019587s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.019587s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 0 +[t=0.019587s, 12516 KB] New best heuristic value for ff: 0 +[t=0.019587s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.019587s, 12516 KB] Solution found! +[t=0.019587s, 12516 KB] Actual search time: 0.000000s +[t=0.019587s, 12516 KB] Plan length: 0 step(s). +[t=0.019587s, 12516 KB] Plan cost: 0 +[t=0.019587s, 12516 KB] Expanded 0 state(s). +[t=0.019587s, 12516 KB] Reopened 0 state(s). +[t=0.019587s, 12516 KB] Evaluated 1 state(s). +[t=0.019587s, 12516 KB] Evaluations: 2 +[t=0.019587s, 12516 KB] Generated 0 state(s). +[t=0.019587s, 12516 KB] Dead ends: 0 state(s). +[t=0.019587s, 12516 KB] Number of registered states: 1 +[t=0.019587s, 12516 KB] Int hash set load factor: 1/1 = 1.000000 +[t=0.019587s, 12516 KB] Int hash set resizes: 0 +[t=0.019587s, 12516 KB] Search time: 0.000000s +[t=0.019587s, 12516 KB] Total time: 0.019587s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 1.18s +INFO Planner time: 10.53s diff --git a/bdi_extension/bdi-grapevine/output_5.txt b/bdi_extension/bdi-grapevine/output_5.txt index 9fbed1a..a90e918 100644 --- a/bdi_extension/bdi-grapevine/output_5.txt +++ b/bdi_extension/bdi-grapevine/output_5.txt @@ -7,25 +7,26 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [1.140s CPU, 1.153s wall-clock] -Normalizing task... [0.030s CPU, 0.029s wall-clock] +Parsing: [0.080s CPU, 0.075s wall-clock] +Normalizing task... [0.010s CPU, 0.003s wall-clock] Instantiating... -Generating Datalog program... [0.010s CPU, 0.011s wall-clock] +Generating Datalog program... [0.000s CPU, 0.002s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.040s CPU, 0.044s wall-clock] -Preparing model... [0.060s CPU, 0.052s wall-clock] -Generated 5194 rules. -Computing model... [0.000s CPU, 0.004s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.007s wall-clock] +Preparing model... [0.010s CPU, 0.006s wall-clock] +Generated 892 rules. +Computing model... [0.000s CPU, 0.001s wall-clock] 1084 relevant atoms 0 auxiliary atoms 1084 final queue length -1358 total queue pushes -Completing instantiation... [0.020s CPU, 0.014s wall-clock] -Instantiating: [0.130s CPU, 0.129s wall-clock] +1346 total queue pushes +Completing instantiation... [0.000s CPU, 0.003s wall-clock] +Instantiating: [0.010s CPU, 0.020s wall-clock] Computing fact groups... Finding invariants... -198 initial candidates -Finding invariants: [0.000s CPU, 0.007s wall-clock] +189 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.070s CPU, 10.065s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +34,7 @@ Choosing groups... 113 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.000s CPU, 0.008s wall-clock] +Computing fact groups: [10.070s CPU, 10.067s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -42,9 +43,9 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.010s CPU, 0.001s wall-clock] -Translating task: [0.010s CPU, 0.008s wall-clock] -126 effect conditions simplified +Processing axioms: [0.000s CPU, 0.000s wall-clock] +Translating task: [0.000s CPU, 0.004s wall-clock] +138 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... Simplified to empty goal! Generating solvable task... @@ -58,9 +59,9 @@ Translator total mutex groups size: 0 Translator operators: 0 Translator axioms: 0 Translator task size: 4 -Translator peak memory: 65464 KB +Translator peak memory: 121788 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [1.310s CPU, 1.329s wall-clock] +Done! [10.170s CPU, 10.171s wall-clock] translate exit code: 0 INFO Running search (release). @@ -68,55 +69,55 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009969s, 12120 KB] reading input... -[t=0.010686s, 12120 KB] done reading input! -[t=0.014732s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014732s, 12384 KB] Generating landmark graph... -[t=0.014732s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014732s, 12384 KB] Initializing Exploration... -[t=0.014732s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014732s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015884s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015884s, 12384 KB] 0 edges -[t=0.015884s, 12384 KB] approx. reasonable orders -[t=0.015884s, 12384 KB] Landmarks generation time: 0.001152s -[t=0.015884s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015884s, 12384 KB] 0 edges -[t=0.015884s, 12384 KB] Landmark graph generation time: 0.001152s -[t=0.015884s, 12384 KB] Landmark graph contains 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015884s, 12384 KB] Landmark graph contains 0 orderings. -[t=0.015884s, 12384 KB] Simplifying 0 unary operators... done! [0 unary operators] -[t=0.015884s, 12384 KB] time to simplify: 0.000000s -[t=0.015884s, 12384 KB] Initializing additive heuristic... -[t=0.015884s, 12384 KB] Initializing FF heuristic... -[t=0.015884s, 12384 KB] Building successor generator...done! -[t=0.015884s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015884s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015884s, 12384 KB] Variables: 1 -[t=0.015884s, 12384 KB] FactPairs: 2 -[t=0.015884s, 12384 KB] Bytes per state: 4 -[t=0.015884s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 0 -[t=0.015884s, 12516 KB] New best heuristic value for ff: 0 -[t=0.015884s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.015884s, 12516 KB] Solution found! -[t=0.015884s, 12516 KB] Actual search time: 0.000000s -[t=0.015884s, 12516 KB] Plan length: 0 step(s). -[t=0.015884s, 12516 KB] Plan cost: 0 -[t=0.015884s, 12516 KB] Expanded 0 state(s). -[t=0.015884s, 12516 KB] Reopened 0 state(s). -[t=0.015884s, 12516 KB] Evaluated 1 state(s). -[t=0.015884s, 12516 KB] Evaluations: 2 -[t=0.015884s, 12516 KB] Generated 0 state(s). -[t=0.015884s, 12516 KB] Dead ends: 0 state(s). -[t=0.015884s, 12516 KB] Number of registered states: 1 -[t=0.015884s, 12516 KB] Int hash set load factor: 1/1 = 1.000000 -[t=0.015884s, 12516 KB] Int hash set resizes: 0 -[t=0.015884s, 12516 KB] Search time: 0.000000s -[t=0.015884s, 12516 KB] Total time: 0.015884s +[t=0.010904s, 12120 KB] reading input... +[t=0.011776s, 12120 KB] done reading input! +[t=0.016945s, 12384 KB] Initializing landmark sum heuristic... +[t=0.016945s, 12384 KB] Generating landmark graph... +[t=0.016945s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.016945s, 12384 KB] Initializing Exploration... +[t=0.016945s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.016945s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.016945s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016945s, 12384 KB] 0 edges +[t=0.016945s, 12384 KB] approx. reasonable orders +[t=0.016945s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.016945s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016945s, 12384 KB] 0 edges +[t=0.016945s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.016945s, 12384 KB] Landmark graph contains 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016945s, 12384 KB] Landmark graph contains 0 orderings. +[t=0.016945s, 12384 KB] Simplifying 0 unary operators... done! [0 unary operators] +[t=0.016945s, 12384 KB] time to simplify: 0.000000s +[t=0.016945s, 12384 KB] Initializing additive heuristic... +[t=0.016945s, 12384 KB] Initializing FF heuristic... +[t=0.016945s, 12384 KB] Building successor generator...done! +[t=0.016945s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.016945s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.016945s, 12384 KB] Variables: 1 +[t=0.016945s, 12384 KB] FactPairs: 2 +[t=0.016945s, 12384 KB] Bytes per state: 4 +[t=0.016945s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.016945s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 0 +[t=0.016945s, 12516 KB] New best heuristic value for ff: 0 +[t=0.016945s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.016945s, 12516 KB] Solution found! +[t=0.016945s, 12516 KB] Actual search time: 0.000000s +[t=0.016945s, 12516 KB] Plan length: 0 step(s). +[t=0.016945s, 12516 KB] Plan cost: 0 +[t=0.016945s, 12516 KB] Expanded 0 state(s). +[t=0.016945s, 12516 KB] Reopened 0 state(s). +[t=0.016945s, 12516 KB] Evaluated 1 state(s). +[t=0.016945s, 12516 KB] Evaluations: 2 +[t=0.016945s, 12516 KB] Generated 0 state(s). +[t=0.016945s, 12516 KB] Dead ends: 0 state(s). +[t=0.016945s, 12516 KB] Number of registered states: 1 +[t=0.016945s, 12516 KB] Int hash set load factor: 1/1 = 1.000000 +[t=0.016945s, 12516 KB] Int hash set resizes: 0 +[t=0.016945s, 12516 KB] Search time: 0.000000s +[t=0.016945s, 12516 KB] Total time: 0.016945s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 1.60s +INFO Planner time: 10.48s diff --git a/bdi_extension/bdi-grapevine/output_6.txt b/bdi_extension/bdi-grapevine/output_6.txt index 09b83f4..0d373b6 100644 --- a/bdi_extension/bdi-grapevine/output_6.txt +++ b/bdi_extension/bdi-grapevine/output_6.txt @@ -7,25 +7,26 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.870s CPU, 0.873s wall-clock] -Normalizing task... [0.020s CPU, 0.027s wall-clock] +Parsing: [0.070s CPU, 0.072s wall-clock] +Normalizing task... [0.010s CPU, 0.003s wall-clock] Instantiating... -Generating Datalog program... [0.030s CPU, 0.032s wall-clock] +Generating Datalog program... [0.000s CPU, 0.002s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.030s CPU, 0.021s wall-clock] -Preparing model... [0.040s CPU, 0.046s wall-clock] -Generated 4060 rules. -Computing model... [0.010s CPU, 0.004s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.007s wall-clock] +Preparing model... [0.010s CPU, 0.006s wall-clock] +Generated 892 rules. +Computing model... [0.000s CPU, 0.002s wall-clock] 1107 relevant atoms 0 auxiliary atoms 1107 final queue length -1637 total queue pushes -Completing instantiation... [0.020s CPU, 0.021s wall-clock] -Instantiating: [0.130s CPU, 0.127s wall-clock] +1625 total queue pushes +Completing instantiation... [0.010s CPU, 0.004s wall-clock] +Instantiating: [0.020s CPU, 0.022s wall-clock] Computing fact groups... Finding invariants... -198 initial candidates -Finding invariants: [0.010s CPU, 0.007s wall-clock] +189 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.070s CPU, 10.072s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +34,7 @@ Choosing groups... 127 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.010s CPU, 0.008s wall-clock] +Computing fact groups: [10.070s CPU, 10.073s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -42,33 +43,33 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.010s CPU, 0.013s wall-clock] -252 effect conditions simplified +Processing axioms: [0.000s CPU, 0.000s wall-clock] +Translating task: [0.010s CPU, 0.007s wall-clock] +264 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... -4 operators removed +0 operators removed 0 axioms removed -130 propositions removed +124 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.002s wall-clock] Reordering and filtering variables... -10 of 62 variables necessary. +13 of 65 variables necessary. 0 of 0 mutex groups necessary. -26 of 26 operators necessary. +30 of 30 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] -Translator variables: 10 +Translator variables: 13 Translator derived variables: 0 -Translator facts: 20 +Translator facts: 26 Translator goal facts: 2 Translator mutex groups: 0 Translator total mutex groups size: 0 -Translator operators: 26 +Translator operators: 30 Translator axioms: 0 -Translator task size: 134 -Translator peak memory: 58296 KB +Translator task size: 185 +Translator peak memory: 121788 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [1.050s CPU, 1.052s wall-clock] +Done! [10.180s CPU, 10.182s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,68 +77,68 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009995s, 12120 KB] reading input... -[t=0.010488s, 12120 KB] done reading input! -[t=0.014779s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014779s, 12384 KB] Generating landmark graph... -[t=0.014779s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014779s, 12384 KB] Initializing Exploration... -[t=0.014779s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014779s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014779s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014779s, 12384 KB] 2 edges -[t=0.014779s, 12384 KB] approx. reasonable orders -[t=0.014779s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014779s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014779s, 12384 KB] 2 edges -[t=0.014779s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014779s, 12384 KB] Landmark graph contains 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014779s, 12384 KB] Landmark graph contains 2 orderings. -[t=0.014779s, 12384 KB] Simplifying 32 unary operators... done! [26 unary operators] -[t=0.014779s, 12384 KB] time to simplify: 0.000000s -[t=0.014779s, 12384 KB] Initializing additive heuristic... -[t=0.014779s, 12384 KB] Initializing FF heuristic... -[t=0.014779s, 12384 KB] Building successor generator...done! -[t=0.014779s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014779s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014779s, 12384 KB] Variables: 10 -[t=0.014779s, 12384 KB] FactPairs: 20 -[t=0.014779s, 12384 KB] Bytes per state: 4 -[t=0.014779s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.014779s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.014779s, 12516 KB] New best heuristic value for ff: 4 -[t=0.014779s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.014779s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 2 -[t=0.014779s, 12516 KB] Initial heuristic value for ff: 4 -[t=0.014779s, 12516 KB] New best heuristic value for ff: 3 -[t=0.014779s, 12516 KB] g=1, 4 evaluated, 3 expanded -[t=0.014779s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.014779s, 12516 KB] New best heuristic value for ff: 2 -[t=0.017295s, 12516 KB] g=2, 5 evaluated, 4 expanded -[t=0.017295s, 12516 KB] New best heuristic value for ff: 1 -[t=0.017295s, 12516 KB] g=3, 6 evaluated, 5 expanded -[t=0.017295s, 12516 KB] Solution found! -[t=0.017295s, 12516 KB] Actual search time: 0.002517s +[t=0.011945s, 12120 KB] reading input... +[t=0.012839s, 12120 KB] done reading input! +[t=0.017685s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017685s, 12384 KB] Generating landmark graph... +[t=0.017685s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017685s, 12384 KB] Initializing Exploration... +[t=0.017685s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017685s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017685s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017685s, 12384 KB] 2 edges +[t=0.017685s, 12384 KB] approx. reasonable orders +[t=0.017685s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017685s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017685s, 12384 KB] 2 edges +[t=0.017685s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017685s, 12384 KB] Landmark graph contains 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017685s, 12384 KB] Landmark graph contains 2 orderings. +[t=0.017685s, 12384 KB] Simplifying 48 unary operators... done! [45 unary operators] +[t=0.017685s, 12384 KB] time to simplify: 0.000000s +[t=0.017685s, 12384 KB] Initializing additive heuristic... +[t=0.017685s, 12384 KB] Initializing FF heuristic... +[t=0.017685s, 12384 KB] Building successor generator...done! +[t=0.017685s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017685s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017685s, 12384 KB] Variables: 13 +[t=0.017685s, 12384 KB] FactPairs: 26 +[t=0.017685s, 12384 KB] Bytes per state: 4 +[t=0.017685s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017685s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.017685s, 12520 KB] New best heuristic value for ff: 4 +[t=0.017685s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.017685s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 2 +[t=0.017685s, 12520 KB] Initial heuristic value for ff: 4 +[t=0.017685s, 12520 KB] New best heuristic value for ff: 3 +[t=0.017685s, 12520 KB] g=1, 2 evaluated, 1 expanded +[t=0.017685s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017685s, 12520 KB] New best heuristic value for ff: 2 +[t=0.017685s, 12520 KB] g=2, 4 evaluated, 3 expanded +[t=0.017685s, 12520 KB] New best heuristic value for ff: 1 +[t=0.017685s, 12520 KB] g=3, 5 evaluated, 4 expanded +[t=0.017685s, 12520 KB] Solution found! +[t=0.017685s, 12520 KB] Actual search time: 0.000000s move_cindy_l3_l2 (1) share_bob_bob_l2 (1) move_cindy_l2_l1 (1) share_alice_alice_l1 (1) -[t=0.017295s, 12516 KB] Plan length: 4 step(s). -[t=0.017295s, 12516 KB] Plan cost: 4 -[t=0.017295s, 12516 KB] Expanded 6 state(s). -[t=0.017295s, 12516 KB] Reopened 0 state(s). -[t=0.017295s, 12516 KB] Evaluated 7 state(s). -[t=0.017295s, 12516 KB] Evaluations: 14 -[t=0.017295s, 12516 KB] Generated 48 state(s). -[t=0.017295s, 12516 KB] Dead ends: 0 state(s). -[t=0.017295s, 12516 KB] Number of registered states: 7 -[t=0.017295s, 12516 KB] Int hash set load factor: 7/8 = 0.875000 -[t=0.017295s, 12516 KB] Int hash set resizes: 3 -[t=0.017295s, 12516 KB] Search time: 0.002517s -[t=0.017295s, 12516 KB] Total time: 0.017295s +[t=0.017685s, 12520 KB] Plan length: 4 step(s). +[t=0.017685s, 12520 KB] Plan cost: 4 +[t=0.017685s, 12520 KB] Expanded 5 state(s). +[t=0.017685s, 12520 KB] Reopened 0 state(s). +[t=0.017685s, 12520 KB] Evaluated 6 state(s). +[t=0.017685s, 12520 KB] Evaluations: 12 +[t=0.017685s, 12520 KB] Generated 34 state(s). +[t=0.017685s, 12520 KB] Dead ends: 0 state(s). +[t=0.017685s, 12520 KB] Number of registered states: 6 +[t=0.017685s, 12520 KB] Int hash set load factor: 6/8 = 0.750000 +[t=0.017685s, 12520 KB] Int hash set resizes: 3 +[t=0.017685s, 12520 KB] Search time: 0.000000s +[t=0.017685s, 12520 KB] Total time: 0.017685s Solution found. -Peak memory: 12516 KB +Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 1.31s +INFO Planner time: 10.47s diff --git a/bdi_extension/bdi-grapevine/output_7.txt b/bdi_extension/bdi-grapevine/output_7.txt index c6b93cb..05d6f3c 100644 --- a/bdi_extension/bdi-grapevine/output_7.txt +++ b/bdi_extension/bdi-grapevine/output_7.txt @@ -8,25 +8,26 @@ INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... Warning: Atom pbcindy_not_secret_alice() is specified twice in initial state specification -Parsing: [0.820s CPU, 0.833s wall-clock] -Normalizing task... [0.020s CPU, 0.025s wall-clock] +Parsing: [0.070s CPU, 0.076s wall-clock] +Normalizing task... [0.000s CPU, 0.003s wall-clock] Instantiating... -Generating Datalog program... [0.030s CPU, 0.024s wall-clock] +Generating Datalog program... [0.010s CPU, 0.003s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.020s CPU, 0.021s wall-clock] -Preparing model... [0.040s CPU, 0.042s wall-clock] -Generated 4096 rules. -Computing model... [0.000s CPU, 0.003s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.007s wall-clock] +Preparing model... [0.000s CPU, 0.006s wall-clock] +Generated 892 rules. +Computing model... [0.010s CPU, 0.001s wall-clock] 1084 relevant atoms 0 auxiliary atoms 1084 final queue length -1358 total queue pushes -Completing instantiation... [0.010s CPU, 0.011s wall-clock] -Instantiating: [0.110s CPU, 0.104s wall-clock] +1346 total queue pushes +Completing instantiation... [0.000s CPU, 0.003s wall-clock] +Instantiating: [0.020s CPU, 0.020s wall-clock] Computing fact groups... Finding invariants... -198 initial candidates -Finding invariants: [0.000s CPU, 0.006s wall-clock] +189 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.100s CPU, 10.094s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -34,7 +35,7 @@ Choosing groups... 113 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.010s CPU, 0.007s wall-clock] +Computing fact groups: [10.100s CPU, 10.095s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,32 +45,32 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.000s CPU, 0.007s wall-clock] -126 effect conditions simplified +Translating task: [0.010s CPU, 0.005s wall-clock] +138 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... -4 operators removed +0 operators removed 0 axioms removed -158 propositions removed +152 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -8 of 34 variables necessary. +11 of 37 variables necessary. 0 of 0 mutex groups necessary. -17 of 17 operators necessary. +21 of 21 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] -Translator variables: 8 +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Translator variables: 11 Translator derived variables: 0 -Translator facts: 16 +Translator facts: 22 Translator goal facts: 1 Translator mutex groups: 0 Translator total mutex groups size: 0 -Translator operators: 17 +Translator operators: 21 Translator axioms: 0 -Translator task size: 86 -Translator peak memory: 58296 KB +Translator task size: 130 +Translator peak memory: 121788 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.960s CPU, 0.978s wall-clock] +Done! [10.200s CPU, 10.203s wall-clock] translate exit code: 0 INFO Running search (release). @@ -77,64 +78,64 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009956s, 12120 KB] reading input... -[t=0.010692s, 12120 KB] done reading input! -[t=0.015563s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015563s, 12384 KB] Generating landmark graph... -[t=0.015563s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015563s, 12384 KB] Initializing Exploration... -[t=0.015563s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015563s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015563s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015563s, 12384 KB] 1 edges -[t=0.015563s, 12384 KB] approx. reasonable orders -[t=0.015563s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015563s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015563s, 12384 KB] 1 edges -[t=0.015563s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015563s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015563s, 12384 KB] Landmark graph contains 1 orderings. -[t=0.015563s, 12384 KB] Simplifying 20 unary operators... done! [16 unary operators] -[t=0.015563s, 12384 KB] time to simplify: 0.000000s -[t=0.015563s, 12384 KB] Initializing additive heuristic... -[t=0.015563s, 12384 KB] Initializing FF heuristic... -[t=0.015563s, 12384 KB] Building successor generator...done! -[t=0.015563s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015563s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015563s, 12384 KB] Variables: 8 -[t=0.015563s, 12384 KB] FactPairs: 16 -[t=0.015563s, 12384 KB] Bytes per state: 4 -[t=0.015563s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015563s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.015563s, 12516 KB] New best heuristic value for ff: 3 -[t=0.015563s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.015563s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 -[t=0.015563s, 12516 KB] Initial heuristic value for ff: 3 -[t=0.015563s, 12516 KB] New best heuristic value for ff: 2 -[t=0.015563s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.015563s, 12516 KB] New best heuristic value for ff: 1 -[t=0.015563s, 12516 KB] g=2, 3 evaluated, 2 expanded -[t=0.015563s, 12516 KB] Solution found! -[t=0.015563s, 12516 KB] Actual search time: 0.000000s -move_alice_l1_l2 (1) -move_alice_l2_l3 (1) -share_alice_alice_l3 (1) -[t=0.015563s, 12516 KB] Plan length: 3 step(s). -[t=0.015563s, 12516 KB] Plan cost: 3 -[t=0.015563s, 12516 KB] Expanded 3 state(s). -[t=0.015563s, 12516 KB] Reopened 0 state(s). -[t=0.015563s, 12516 KB] Evaluated 4 state(s). -[t=0.015563s, 12516 KB] Evaluations: 8 -[t=0.015563s, 12516 KB] Generated 21 state(s). -[t=0.015563s, 12516 KB] Dead ends: 0 state(s). -[t=0.015563s, 12516 KB] Number of registered states: 4 -[t=0.015563s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 -[t=0.015563s, 12516 KB] Int hash set resizes: 2 -[t=0.015563s, 12516 KB] Search time: 0.000000s -[t=0.015563s, 12516 KB] Total time: 0.015563s +[t=0.013446s, 12120 KB] reading input... +[t=0.014425s, 12120 KB] done reading input! +[t=0.019862s, 12384 KB] Initializing landmark sum heuristic... +[t=0.019862s, 12384 KB] Generating landmark graph... +[t=0.019862s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.019862s, 12384 KB] Initializing Exploration... +[t=0.019862s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.019862s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.019862s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019862s, 12384 KB] 1 edges +[t=0.019862s, 12384 KB] approx. reasonable orders +[t=0.019862s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.019862s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019862s, 12384 KB] 1 edges +[t=0.019862s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.019862s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019862s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.019862s, 12384 KB] Simplifying 36 unary operators... done! [33 unary operators] +[t=0.019862s, 12384 KB] time to simplify: 0.000000s +[t=0.019862s, 12384 KB] Initializing additive heuristic... +[t=0.019862s, 12384 KB] Initializing FF heuristic... +[t=0.019862s, 12384 KB] Building successor generator...done! +[t=0.019862s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.019862s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.019862s, 12384 KB] Variables: 11 +[t=0.019862s, 12384 KB] FactPairs: 22 +[t=0.019862s, 12384 KB] Bytes per state: 4 +[t=0.019862s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.019862s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.019862s, 12516 KB] New best heuristic value for ff: 3 +[t=0.019862s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.019862s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.019862s, 12516 KB] Initial heuristic value for ff: 3 +[t=0.019862s, 12516 KB] New best heuristic value for ff: 2 +[t=0.019862s, 12516 KB] g=1, 2 evaluated, 1 expanded +[t=0.019862s, 12516 KB] New best heuristic value for ff: 1 +[t=0.019862s, 12516 KB] g=2, 3 evaluated, 2 expanded +[t=0.019862s, 12516 KB] Solution found! +[t=0.019862s, 12516 KB] Actual search time: 0.000000s +move_cindy_l3_l2 (1) +move_cindy_l2_l1 (1) +share_alice_alice_l1 (1) +[t=0.019862s, 12516 KB] Plan length: 3 step(s). +[t=0.019862s, 12516 KB] Plan cost: 3 +[t=0.019862s, 12516 KB] Expanded 3 state(s). +[t=0.019862s, 12516 KB] Reopened 0 state(s). +[t=0.019862s, 12516 KB] Evaluated 4 state(s). +[t=0.019862s, 12516 KB] Evaluations: 8 +[t=0.019862s, 12516 KB] Generated 16 state(s). +[t=0.019862s, 12516 KB] Dead ends: 0 state(s). +[t=0.019862s, 12516 KB] Number of registered states: 4 +[t=0.019862s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 +[t=0.019862s, 12516 KB] Int hash set resizes: 2 +[t=0.019862s, 12516 KB] Search time: 0.000000s +[t=0.019862s, 12516 KB] Total time: 0.019862s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 1.23s +INFO Planner time: 10.52s diff --git a/bdi_extension/bdi-grapevine/output_8.txt b/bdi_extension/bdi-grapevine/output_8.txt index f1c11f7..daf467b 100644 --- a/bdi_extension/bdi-grapevine/output_8.txt +++ b/bdi_extension/bdi-grapevine/output_8.txt @@ -7,25 +7,26 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.830s CPU, 0.830s wall-clock] -Normalizing task... [0.020s CPU, 0.024s wall-clock] +Parsing: [0.080s CPU, 0.078s wall-clock] +Normalizing task... [0.010s CPU, 0.003s wall-clock] Instantiating... -Generating Datalog program... [0.020s CPU, 0.021s wall-clock] +Generating Datalog program... [0.010s CPU, 0.002s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.020s CPU, 0.021s wall-clock] -Preparing model... [0.050s CPU, 0.047s wall-clock] -Generated 3988 rules. -Computing model... [0.000s CPU, 0.003s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.007s wall-clock] +Preparing model... [0.000s CPU, 0.007s wall-clock] +Generated 892 rules. +Computing model... [0.010s CPU, 0.001s wall-clock] 1085 relevant atoms 0 auxiliary atoms 1085 final queue length -1358 total queue pushes -Completing instantiation... [0.010s CPU, 0.011s wall-clock] -Instantiating: [0.110s CPU, 0.105s wall-clock] +1346 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.020s CPU, 0.021s wall-clock] Computing fact groups... Finding invariants... -198 initial candidates -Finding invariants: [0.010s CPU, 0.006s wall-clock] +189 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.070s CPU, 10.082s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +34,7 @@ Choosing groups... 114 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.010s CPU, 0.008s wall-clock] +Computing fact groups: [10.070s CPU, 10.083s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -42,33 +43,33 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.000s CPU, 0.007s wall-clock] -135 effect conditions simplified +Processing axioms: [0.000s CPU, 0.000s wall-clock] +Translating task: [0.010s CPU, 0.004s wall-clock] +147 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... -4 operators removed +0 operators removed 0 axioms removed -156 propositions removed +150 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -8 of 36 variables necessary. +11 of 39 variables necessary. 0 of 0 mutex groups necessary. -17 of 17 operators necessary. +21 of 21 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.010s CPU, 0.000s wall-clock] -Translator variables: 8 +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Translator variables: 11 Translator derived variables: 0 -Translator facts: 16 +Translator facts: 22 Translator goal facts: 1 Translator mutex groups: 0 Translator total mutex groups size: 0 -Translator operators: 17 +Translator operators: 21 Translator axioms: 0 -Translator task size: 86 -Translator peak memory: 58296 KB +Translator task size: 130 +Translator peak memory: 121788 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.980s CPU, 0.976s wall-clock] +Done! [10.190s CPU, 10.193s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,61 +77,61 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009805s, 12120 KB] reading input... -[t=0.010771s, 12120 KB] done reading input! -[t=0.014787s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014787s, 12384 KB] Generating landmark graph... -[t=0.014787s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014787s, 12384 KB] Initializing Exploration... -[t=0.014787s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014787s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014787s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014787s, 12384 KB] 1 edges -[t=0.014787s, 12384 KB] approx. reasonable orders -[t=0.014787s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014787s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014787s, 12384 KB] 1 edges -[t=0.014787s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014787s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014787s, 12384 KB] Landmark graph contains 1 orderings. -[t=0.014787s, 12384 KB] Simplifying 20 unary operators... done! [16 unary operators] -[t=0.014787s, 12384 KB] time to simplify: 0.000000s -[t=0.014787s, 12384 KB] Initializing additive heuristic... -[t=0.014787s, 12384 KB] Initializing FF heuristic... -[t=0.014787s, 12384 KB] Building successor generator...done! -[t=0.014787s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014787s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014787s, 12384 KB] Variables: 8 -[t=0.014787s, 12384 KB] FactPairs: 16 -[t=0.014787s, 12384 KB] Bytes per state: 4 -[t=0.014787s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.014787s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.014787s, 12516 KB] New best heuristic value for ff: 2 -[t=0.014787s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.014787s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 -[t=0.014787s, 12516 KB] Initial heuristic value for ff: 2 -[t=0.014787s, 12516 KB] New best heuristic value for ff: 1 -[t=0.014787s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.014787s, 12516 KB] Solution found! -[t=0.014787s, 12516 KB] Actual search time: 0.000000s -move_alice_l1_l2 (1) -share_alice_alice_l2 (1) -[t=0.014787s, 12516 KB] Plan length: 2 step(s). -[t=0.014787s, 12516 KB] Plan cost: 2 -[t=0.014787s, 12516 KB] Expanded 2 state(s). -[t=0.014787s, 12516 KB] Reopened 0 state(s). -[t=0.014787s, 12516 KB] Evaluated 3 state(s). -[t=0.014787s, 12516 KB] Evaluations: 6 -[t=0.014787s, 12516 KB] Generated 12 state(s). -[t=0.014787s, 12516 KB] Dead ends: 0 state(s). -[t=0.014787s, 12516 KB] Number of registered states: 3 -[t=0.014787s, 12516 KB] Int hash set load factor: 3/4 = 0.750000 -[t=0.014787s, 12516 KB] Int hash set resizes: 2 -[t=0.014787s, 12516 KB] Search time: 0.000000s -[t=0.014787s, 12516 KB] Total time: 0.014787s +[t=0.011507s, 12120 KB] reading input... +[t=0.012375s, 12120 KB] done reading input! +[t=0.017324s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017324s, 12384 KB] Generating landmark graph... +[t=0.017324s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017324s, 12384 KB] Initializing Exploration... +[t=0.017324s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017324s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017324s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017324s, 12384 KB] 1 edges +[t=0.017324s, 12384 KB] approx. reasonable orders +[t=0.017324s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017324s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017324s, 12384 KB] 1 edges +[t=0.017324s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017324s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017324s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.017324s, 12384 KB] Simplifying 36 unary operators... done! [33 unary operators] +[t=0.017324s, 12384 KB] time to simplify: 0.000000s +[t=0.017324s, 12384 KB] Initializing additive heuristic... +[t=0.017324s, 12384 KB] Initializing FF heuristic... +[t=0.017324s, 12384 KB] Building successor generator...done! +[t=0.017324s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017324s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017324s, 12384 KB] Variables: 11 +[t=0.017324s, 12384 KB] FactPairs: 22 +[t=0.017324s, 12384 KB] Bytes per state: 4 +[t=0.017324s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017324s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017324s, 12516 KB] New best heuristic value for ff: 2 +[t=0.017324s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.017324s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.017324s, 12516 KB] Initial heuristic value for ff: 2 +[t=0.017324s, 12516 KB] New best heuristic value for ff: 1 +[t=0.017324s, 12516 KB] g=1, 3 evaluated, 2 expanded +[t=0.017324s, 12516 KB] Solution found! +[t=0.017324s, 12516 KB] Actual search time: 0.000000s +move_bob_l2_l1 (1) +share_alice_alice_l1 (1) +[t=0.017324s, 12516 KB] Plan length: 2 step(s). +[t=0.017324s, 12516 KB] Plan cost: 2 +[t=0.017324s, 12516 KB] Expanded 3 state(s). +[t=0.017324s, 12516 KB] Reopened 0 state(s). +[t=0.017324s, 12516 KB] Evaluated 4 state(s). +[t=0.017324s, 12516 KB] Evaluations: 8 +[t=0.017324s, 12516 KB] Generated 15 state(s). +[t=0.017324s, 12516 KB] Dead ends: 0 state(s). +[t=0.017324s, 12516 KB] Number of registered states: 4 +[t=0.017324s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 +[t=0.017324s, 12516 KB] Int hash set resizes: 2 +[t=0.017324s, 12516 KB] Search time: 0.000000s +[t=0.017324s, 12516 KB] Total time: 0.017324s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 1.23s +INFO Planner time: 10.49s diff --git a/bdi_extension/bdi-grapevine/output_9.txt b/bdi_extension/bdi-grapevine/output_9.txt index 85a4cd0..a9e0cd3 100644 --- a/bdi_extension/bdi-grapevine/output_9.txt +++ b/bdi_extension/bdi-grapevine/output_9.txt @@ -7,10 +7,137 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/bdi-grapevine/pdkb-domain.pddl bdi_extension/bdi-grapevine/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing domain -Expected a non-empty block starting with any of the following words: :requirements, :types, :constants, :predicates, :functions, :derived, :action -Got: [':agents', 'alice', 'bob', 'cindy', 'derek'] -translate exit code: 31 +Parsing: [5.040s CPU, 5.042s wall-clock] +Normalizing task... [0.190s CPU, 0.190s wall-clock] +Instantiating... +Generating Datalog program... [0.160s CPU, 0.166s wall-clock] +Normalizing Datalog program... +Normalizing Datalog program: [0.110s CPU, 0.109s wall-clock] +Preparing model... [0.460s CPU, 0.465s wall-clock] +Generated 16633 rules. +Computing model... [0.060s CPU, 0.064s wall-clock] +57921 relevant atoms +0 auxiliary atoms +57921 final queue length +61886 total queue pushes +Completing instantiation... [0.260s CPU, 0.262s wall-clock] +Instantiating: [1.080s CPU, 1.089s wall-clock] +Computing fact groups... +Finding invariants... +2764 initial candidates +Time limit reached, aborting invariant generation +Finding invariants: [10.110s CPU, 10.115s wall-clock] +Checking invariant weight... [0.010s CPU, 0.012s wall-clock] +Instantiating groups... [0.000s CPU, 0.001s wall-clock] +Collecting mutex groups... [0.000s CPU, 0.001s wall-clock] +Choosing groups... +1559 uncovered facts +Choosing groups: [0.000s CPU, 0.001s wall-clock] +Building translation key... [0.000s CPU, 0.002s wall-clock] +Computing fact groups: [10.140s CPU, 10.145s wall-clock] +Building STRIPS to SAS dictionary... [0.000s CPU, 0.002s wall-clock] +Building dictionary for full mutex groups... [0.000s CPU, 0.001s wall-clock] +Building mutex information... +Building mutex information: [0.000s CPU, 0.001s wall-clock] +Translating task... +Processing axioms... +Simplifying axioms... [0.000s CPU, 0.000s wall-clock] +Translator axioms removed by simplifying: 0 +Processing axioms: [0.010s CPU, 0.003s wall-clock] +Translating task: [0.100s CPU, 0.093s wall-clock] +2068 effect conditions simplified +0 implied preconditions added +Detecting unreachable propositions... +0 operators removed +0 axioms removed +2410 propositions removed +Detecting unreachable propositions: [0.020s CPU, 0.022s wall-clock] +Reordering and filtering variables... +16 of 354 variables necessary. +0 of 0 mutex groups necessary. +28 of 28 operators necessary. +0 of 0 axiom rules necessary. +Reordering and filtering variables: [0.010s CPU, 0.011s wall-clock] +Translator variables: 16 +Translator derived variables: 0 +Translator facts: 32 +Translator goal facts: 1 +Translator mutex groups: 0 +Translator total mutex groups size: 0 +Translator operators: 28 +Translator axioms: 0 +Translator task size: 239 +Translator peak memory: 196564 KB +Writing output... [0.000s CPU, 0.000s wall-clock] +Done! [16.580s CPU, 16.601s wall-clock] +translate exit code: 0 -Driver aborting after translate -INFO Planner time: 0.27s +INFO Running search (release). +INFO search stdin: output.sas +INFO search time limit: 1800s +INFO search memory limit: None +INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas +[t=0.013505s, 12120 KB] reading input... +[t=0.013936s, 12120 KB] done reading input! +[t=0.020557s, 12384 KB] Initializing landmark sum heuristic... +[t=0.020557s, 12384 KB] Generating landmark graph... +[t=0.020557s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.020557s, 12384 KB] Initializing Exploration... +[t=0.020557s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.020557s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.020557s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.020557s, 12384 KB] 1 edges +[t=0.020557s, 12384 KB] approx. reasonable orders +[t=0.020557s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.020557s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.020557s, 12384 KB] 1 edges +[t=0.020557s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.020557s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.020557s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.020557s, 12384 KB] Simplifying 71 unary operators... done! [67 unary operators] +[t=0.020557s, 12384 KB] time to simplify: 0.000000s +[t=0.020557s, 12384 KB] Initializing additive heuristic... +[t=0.020557s, 12384 KB] Initializing FF heuristic... +[t=0.020557s, 12384 KB] Building successor generator...done! +[t=0.020557s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.020557s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.020557s, 12384 KB] Variables: 16 +[t=0.020557s, 12384 KB] FactPairs: 32 +[t=0.020557s, 12384 KB] Bytes per state: 4 +[t=0.020557s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.020557s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.020557s, 12516 KB] New best heuristic value for ff: 4 +[t=0.020557s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.020557s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.020557s, 12516 KB] Initial heuristic value for ff: 4 +[t=0.020557s, 12516 KB] New best heuristic value for ff: 3 +[t=0.020557s, 12516 KB] g=1, 2 evaluated, 1 expanded +[t=0.020557s, 12516 KB] New best heuristic value for ff: 2 +[t=0.020557s, 12516 KB] g=2, 3 evaluated, 2 expanded +[t=0.020557s, 12516 KB] New best heuristic value for ff: 1 +[t=0.020557s, 12516 KB] g=3, 4 evaluated, 3 expanded +[t=0.020557s, 12516 KB] Solution found! +[t=0.020557s, 12516 KB] Actual search time: 0.000000s +move_derek_l3_l2 (1) +move_cindy_l3_l2 (1) +move_alice_l1_l2 (1) +share_alice_alice_l2 (1) +[t=0.020557s, 12516 KB] Plan length: 4 step(s). +[t=0.020557s, 12516 KB] Plan cost: 4 +[t=0.020557s, 12516 KB] Expanded 5 state(s). +[t=0.020557s, 12516 KB] Reopened 0 state(s). +[t=0.020557s, 12516 KB] Evaluated 6 state(s). +[t=0.020557s, 12516 KB] Evaluations: 12 +[t=0.020557s, 12516 KB] Generated 37 state(s). +[t=0.020557s, 12516 KB] Dead ends: 0 state(s). +[t=0.020557s, 12516 KB] Number of registered states: 6 +[t=0.020557s, 12516 KB] Int hash set load factor: 6/8 = 0.750000 +[t=0.020557s, 12516 KB] Int hash set resizes: 3 +[t=0.020557s, 12516 KB] Search time: 0.000000s +[t=0.020557s, 12516 KB] Total time: 0.020557s +Solution found. +Peak memory: 12516 KB +Remove intermediate file output.sas +search exit code: 0 + +INFO Planner time: 16.93s diff --git a/bdi_extension/bdi-grapevine/plan_1.txt b/bdi_extension/bdi-grapevine/plan_1.txt index 98654b3..2c74b73 100644 --- a/bdi_extension/bdi-grapevine/plan_1.txt +++ b/bdi_extension/bdi-grapevine/plan_1.txt @@ -1,3 +1,3 @@ -(move_alice_l1_l2 ) -(share_bob_bob_l2 ) +(move_bob_l2_l1 ) +(share_bob_bob_l1 ) ; cost = 2 (unit cost) diff --git a/bdi_extension/bdi-grapevine/plan_10.txt b/bdi_extension/bdi-grapevine/plan_10.txt new file mode 100644 index 0000000..8f0635a --- /dev/null +++ b/bdi_extension/bdi-grapevine/plan_10.txt @@ -0,0 +1,5 @@ +(move_evelyn_l1_l2 ) +(move_cindy_l3_l2 ) +(move_alice_l1_l2 ) +(share_alice_alice_l2 ) +; cost = 4 (unit cost) diff --git a/bdi_extension/bdi-grapevine/plan_2.txt b/bdi_extension/bdi-grapevine/plan_2.txt index 663f381..2f97db1 100644 --- a/bdi_extension/bdi-grapevine/plan_2.txt +++ b/bdi_extension/bdi-grapevine/plan_2.txt @@ -1,4 +1,4 @@ -(move_alice_l1_l2 ) (move_cindy_l3_l2 ) +(move_alice_l1_l2 ) (share_alice_alice_l2 ) ; cost = 3 (unit cost) diff --git a/bdi_extension/bdi-grapevine/plan_7.txt b/bdi_extension/bdi-grapevine/plan_7.txt index df90dc6..2597437 100644 --- a/bdi_extension/bdi-grapevine/plan_7.txt +++ b/bdi_extension/bdi-grapevine/plan_7.txt @@ -1,4 +1,4 @@ -(move_alice_l1_l2 ) -(move_alice_l2_l3 ) -(share_alice_alice_l3 ) +(move_cindy_l3_l2 ) +(move_cindy_l2_l1 ) +(share_alice_alice_l1 ) ; cost = 3 (unit cost) diff --git a/bdi_extension/bdi-grapevine/plan_8.txt b/bdi_extension/bdi-grapevine/plan_8.txt index 30079f8..acafc6f 100644 --- a/bdi_extension/bdi-grapevine/plan_8.txt +++ b/bdi_extension/bdi-grapevine/plan_8.txt @@ -1,3 +1,3 @@ -(move_alice_l1_l2 ) -(share_alice_alice_l2 ) +(move_bob_l2_l1 ) +(share_alice_alice_l1 ) ; cost = 2 (unit cost) diff --git a/bdi_extension/bdi-grapevine/plan_9.txt b/bdi_extension/bdi-grapevine/plan_9.txt new file mode 100644 index 0000000..078eb2a --- /dev/null +++ b/bdi_extension/bdi-grapevine/plan_9.txt @@ -0,0 +1,5 @@ +(move_derek_l3_l2 ) +(move_cindy_l3_l2 ) +(move_alice_l1_l2 ) +(share_alice_alice_l2 ) +; cost = 4 (unit cost) diff --git a/bdi_extension/belief-desire/domain.pdkbddl b/bdi_extension/belief-desire/domain.pdkbddl index 559049a..fdfd0af 100644 --- a/bdi_extension/belief-desire/domain.pdkbddl +++ b/bdi_extension/belief-desire/domain.pdkbddl @@ -20,7 +20,7 @@ :derive-condition never :parameters (?a - agent ?l1 ?l2 - loc) :precondition (and (at ?a ?l1) (connected ?l1 ?l2)) - :effect (and (at ?a ?l2) (!at ?a ?l1)) + :effect (and (at ?a ?l2) (not (at ?a ?l1))) ) (:action adopt-belief @@ -47,21 +47,21 @@ ) (when (and - (!skeptical ?a2 ?a1) + (not (skeptical ?a2 ?a1)) (book-teachings) ) [b, ?a2](book-teachings) ) (when (and - (!skeptical ?a2 ?a1) + (not (skeptical ?a2 ?a1)) (book-teachings) ) (follower ?a2 ?a1) ) (when (and - (!skeptical ?a2 ?a1) + (not (skeptical ?a2 ?a1)) !(book-teachings) ) (book-teachings) diff --git a/bdi_extension/belief-desire/output_1.txt b/bdi_extension/belief-desire/output_1.txt index 8abbdec..a557b6c 100644 --- a/bdi_extension/belief-desire/output_1.txt +++ b/bdi_extension/belief-desire/output_1.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.050s CPU, 0.044s wall-clock] -Normalizing task... [0.000s CPU, 0.002s wall-clock] +Parsing: [0.020s CPU, 0.014s wall-clock] +Normalizing task... [0.000s CPU, 0.001s wall-clock] Instantiating... Generating Datalog program... [0.000s CPU, 0.001s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.000s CPU, 0.005s wall-clock] -Preparing model... [0.000s CPU, 0.003s wall-clock] -Generated 544 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.004s wall-clock] +Preparing model... [0.000s CPU, 0.001s wall-clock] +Generated 229 rules. +Computing model... [0.000s CPU, 0.000s wall-clock] 199 relevant atoms 0 auxiliary atoms 199 final queue length -263 total queue pushes -Completing instantiation... [0.000s CPU, 0.001s wall-clock] -Instantiating: [0.000s CPU, 0.011s wall-clock] +279 total queue pushes +Completing instantiation... [0.010s CPU, 0.001s wall-clock] +Instantiating: [0.010s CPU, 0.007s wall-clock] Computing fact groups... Finding invariants... -56 initial candidates -Finding invariants: [0.510s CPU, 0.508s wall-clock] +48 initial candidates +Finding invariants: [0.000s CPU, 0.007s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 37 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.510s CPU, 0.508s wall-clock] +Computing fact groups: [0.000s CPU, 0.008s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,7 +44,7 @@ Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] Translating task: [0.000s CPU, 0.001s wall-clock] -27 effect conditions simplified +35 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed @@ -66,9 +66,9 @@ Translator total mutex groups size: 0 Translator operators: 13 Translator axioms: 0 Translator task size: 145 -Translator peak memory: 45500 KB +Translator peak memory: 32696 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.560s CPU, 0.568s wall-clock] +Done! [0.030s CPU, 0.032s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,61 +76,61 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010617s, 12120 KB] reading input... -[t=0.011918s, 12120 KB] done reading input! -[t=0.015686s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015686s, 12384 KB] Generating landmark graph... -[t=0.015686s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015686s, 12384 KB] Initializing Exploration... -[t=0.015686s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015686s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015686s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015686s, 12384 KB] 2 edges -[t=0.015686s, 12384 KB] approx. reasonable orders -[t=0.015686s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015686s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015686s, 12384 KB] 2 edges -[t=0.015686s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015686s, 12384 KB] Landmark graph contains 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015686s, 12384 KB] Landmark graph contains 2 orderings. -[t=0.015686s, 12384 KB] Simplifying 41 unary operators... done! [31 unary operators] -[t=0.015686s, 12384 KB] time to simplify: 0.000000s -[t=0.015686s, 12384 KB] Initializing additive heuristic... -[t=0.015686s, 12384 KB] Initializing FF heuristic... -[t=0.015686s, 12384 KB] Building successor generator...done! -[t=0.015686s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015686s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015686s, 12384 KB] Variables: 14 -[t=0.015686s, 12384 KB] FactPairs: 28 -[t=0.015686s, 12384 KB] Bytes per state: 4 -[t=0.015686s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015686s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.015686s, 12516 KB] New best heuristic value for ff: 2 -[t=0.015686s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.015686s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 2 -[t=0.015686s, 12516 KB] Initial heuristic value for ff: 2 -[t=0.015686s, 12516 KB] New best heuristic value for ff: 1 -[t=0.015686s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.015686s, 12516 KB] Solution found! -[t=0.015686s, 12516 KB] Actual search time: 0.000000s +[t=0.010836s, 12120 KB] reading input... +[t=0.011695s, 12120 KB] done reading input! +[t=0.017073s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017073s, 12384 KB] Generating landmark graph... +[t=0.017073s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017073s, 12384 KB] Initializing Exploration... +[t=0.017073s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017073s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017073s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017073s, 12384 KB] 2 edges +[t=0.017073s, 12384 KB] approx. reasonable orders +[t=0.017073s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017073s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017073s, 12384 KB] 2 edges +[t=0.017073s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017073s, 12384 KB] Landmark graph contains 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017073s, 12384 KB] Landmark graph contains 2 orderings. +[t=0.017073s, 12384 KB] Simplifying 41 unary operators... done! [31 unary operators] +[t=0.017073s, 12384 KB] time to simplify: 0.000000s +[t=0.017073s, 12384 KB] Initializing additive heuristic... +[t=0.017073s, 12384 KB] Initializing FF heuristic... +[t=0.017073s, 12384 KB] Building successor generator...done! +[t=0.017073s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017073s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017073s, 12384 KB] Variables: 14 +[t=0.017073s, 12384 KB] FactPairs: 28 +[t=0.017073s, 12384 KB] Bytes per state: 4 +[t=0.017073s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017073s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.017073s, 12516 KB] New best heuristic value for ff: 2 +[t=0.017073s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.017073s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 2 +[t=0.017073s, 12516 KB] Initial heuristic value for ff: 2 +[t=0.017073s, 12516 KB] New best heuristic value for ff: 1 +[t=0.017073s, 12516 KB] g=1, 2 evaluated, 1 expanded +[t=0.017073s, 12516 KB] Solution found! +[t=0.017073s, 12516 KB] Actual search time: 0.000000s move_bob_l2_l1 (1) adopt-belief_alice_l1 (1) -[t=0.015686s, 12516 KB] Plan length: 2 step(s). -[t=0.015686s, 12516 KB] Plan cost: 2 -[t=0.015686s, 12516 KB] Expanded 2 state(s). -[t=0.015686s, 12516 KB] Reopened 0 state(s). -[t=0.015686s, 12516 KB] Evaluated 3 state(s). -[t=0.015686s, 12516 KB] Evaluations: 6 -[t=0.015686s, 12516 KB] Generated 6 state(s). -[t=0.015686s, 12516 KB] Dead ends: 0 state(s). -[t=0.015686s, 12516 KB] Number of registered states: 3 -[t=0.015686s, 12516 KB] Int hash set load factor: 3/4 = 0.750000 -[t=0.015686s, 12516 KB] Int hash set resizes: 2 -[t=0.015686s, 12516 KB] Search time: 0.000000s -[t=0.015686s, 12516 KB] Total time: 0.015686s +[t=0.017073s, 12516 KB] Plan length: 2 step(s). +[t=0.017073s, 12516 KB] Plan cost: 2 +[t=0.017073s, 12516 KB] Expanded 2 state(s). +[t=0.017073s, 12516 KB] Reopened 0 state(s). +[t=0.017073s, 12516 KB] Evaluated 3 state(s). +[t=0.017073s, 12516 KB] Evaluations: 6 +[t=0.017073s, 12516 KB] Generated 6 state(s). +[t=0.017073s, 12516 KB] Dead ends: 0 state(s). +[t=0.017073s, 12516 KB] Number of registered states: 3 +[t=0.017073s, 12516 KB] Int hash set load factor: 3/4 = 0.750000 +[t=0.017073s, 12516 KB] Int hash set resizes: 2 +[t=0.017073s, 12516 KB] Search time: 0.000000s +[t=0.017073s, 12516 KB] Total time: 0.017073s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.86s +INFO Planner time: 0.31s diff --git a/bdi_extension/belief-desire/output_10.txt b/bdi_extension/belief-desire/output_10.txt index 84cb701..3f9c915 100644 --- a/bdi_extension/belief-desire/output_10.txt +++ b/bdi_extension/belief-desire/output_10.txt @@ -7,57 +7,57 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [43.670s CPU, 43.615s wall-clock] -Normalizing task... [0.370s CPU, 0.368s wall-clock] +Parsing: [1.120s CPU, 1.115s wall-clock] +Normalizing task... [0.030s CPU, 0.036s wall-clock] Instantiating... -Generating Datalog program... [0.240s CPU, 0.241s wall-clock] +Generating Datalog program... [0.020s CPU, 0.020s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.190s CPU, 0.195s wall-clock] -Preparing model... [0.700s CPU, 0.697s wall-clock] -Generated 27805 rules. -Computing model... [0.050s CPU, 0.044s wall-clock] +Normalizing Datalog program: [0.050s CPU, 0.048s wall-clock] +Preparing model... [0.140s CPU, 0.142s wall-clock] +Generated 5081 rules. +Computing model... [0.020s CPU, 0.019s wall-clock] 28199 relevant atoms 0 auxiliary atoms 28199 final queue length -28927 total queue pushes -Completing instantiation... [0.070s CPU, 0.069s wall-clock] -Instantiating: [1.290s CPU, 1.281s wall-clock] +29027 total queue pushes +Completing instantiation... [0.020s CPU, 0.023s wall-clock] +Instantiating: [0.260s CPU, 0.259s wall-clock] Computing fact groups... Finding invariants... -2115 initial candidates +2080 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.080s CPU, 10.123s wall-clock] -Checking invariant weight... [0.000s CPU, 0.005s wall-clock] -Instantiating groups... [0.000s CPU, 0.001s wall-clock] +Finding invariants: [10.080s CPU, 10.092s wall-clock] +Checking invariant weight... [0.000s CPU, 0.006s wall-clock] +Instantiating groups... [0.010s CPU, 0.001s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 1205 uncovered facts Choosing groups: [0.000s CPU, 0.001s wall-clock] Building translation key... [0.000s CPU, 0.002s wall-clock] -Computing fact groups: [10.090s CPU, 10.136s wall-clock] +Computing fact groups: [10.090s CPU, 10.107s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.001s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... -Building mutex information: [0.000s CPU, 0.000s wall-clock] +Building mutex information: [0.010s CPU, 0.000s wall-clock] Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.030s CPU, 0.023s wall-clock] -231 effect conditions simplified +Processing axioms: [0.000s CPU, 0.000s wall-clock] +Translating task: [0.010s CPU, 0.014s wall-clock] +261 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 1766 propositions removed -Detecting unreachable propositions: [0.000s CPU, 0.006s wall-clock] +Detecting unreachable propositions: [0.010s CPU, 0.005s wall-clock] Reordering and filtering variables... 69 of 322 variables necessary. 0 of 0 mutex groups necessary. 61 of 61 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.010s CPU, 0.003s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.003s wall-clock] Translator variables: 69 Translator derived variables: 0 Translator facts: 138 @@ -66,10 +66,10 @@ Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 61 Translator axioms: 0 -Translator task size: 1333 -Translator peak memory: 246604 KB +Translator task size: 1305 +Translator peak memory: 149900 KB Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [55.460s CPU, 55.437s wall-clock] +Done! [11.530s CPU, 11.545s wall-clock] translate exit code: 0 INFO Running search (release). @@ -77,75 +77,75 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010399s, 12120 KB] reading input... -[t=0.010747s, 12120 KB] done reading input! -[t=0.015516s, 12516 KB] Initializing landmark sum heuristic... -[t=0.015516s, 12516 KB] Generating landmark graph... -[t=0.015516s, 12516 KB] Building a landmark graph with reasonable orders. -[t=0.015516s, 12516 KB] Initializing Exploration... -[t=0.015516s, 12516 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015516s, 12516 KB] Landmarks generation time: 0.000000s -[t=0.015516s, 12516 KB] Discovered 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015516s, 12516 KB] 11 edges -[t=0.015516s, 12516 KB] approx. reasonable orders -[t=0.015516s, 12516 KB] Landmarks generation time: 0.000000s -[t=0.015516s, 12516 KB] Discovered 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015516s, 12516 KB] 11 edges -[t=0.015516s, 12516 KB] Landmark graph generation time: 0.000000s -[t=0.015516s, 12516 KB] Landmark graph contains 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015516s, 12516 KB] Landmark graph contains 11 orderings. -[t=0.015516s, 12516 KB] Simplifying 465 unary operators... done! [392 unary operators] -[t=0.017647s, 12516 KB] time to simplify: 0.002131s -[t=0.017647s, 12516 KB] Initializing additive heuristic... -[t=0.017647s, 12516 KB] Initializing FF heuristic... -[t=0.017647s, 12516 KB] Building successor generator...done! -[t=0.017647s, 12516 KB] peak memory difference for successor generator creation: 0 KB -[t=0.017647s, 12516 KB] time for successor generation creation: 0.000000s -[t=0.017647s, 12516 KB] Variables: 69 -[t=0.017647s, 12516 KB] FactPairs: 138 -[t=0.017647s, 12516 KB] Bytes per state: 12 -[t=0.017647s, 12516 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.017647s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.017647s, 12516 KB] New best heuristic value for ff: 6 -[t=0.017647s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.017647s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 6 -[t=0.017647s, 12516 KB] Initial heuristic value for ff: 6 -[t=0.017647s, 12516 KB] New best heuristic value for ff: 5 -[t=0.017647s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.017647s, 12516 KB] New best heuristic value for ff: 4 -[t=0.017647s, 12516 KB] g=2, 3 evaluated, 2 expanded -[t=0.017647s, 12516 KB] New best heuristic value for ff: 3 -[t=0.017647s, 12516 KB] g=3, 4 evaluated, 3 expanded -[t=0.017647s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017647s, 12516 KB] New best heuristic value for ff: 2 -[t=0.017647s, 12516 KB] g=4, 6 evaluated, 5 expanded -[t=0.017647s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017647s, 12516 KB] New best heuristic value for ff: 1 -[t=0.017647s, 12516 KB] g=5, 7 evaluated, 6 expanded -[t=0.017647s, 12516 KB] Solution found! -[t=0.017647s, 12516 KB] Actual search time: 0.000000s +[t=0.011813s, 12120 KB] reading input... +[t=0.012676s, 12120 KB] done reading input! +[t=0.018392s, 12516 KB] Initializing landmark sum heuristic... +[t=0.018392s, 12516 KB] Generating landmark graph... +[t=0.018392s, 12516 KB] Building a landmark graph with reasonable orders. +[t=0.018392s, 12516 KB] Initializing Exploration... +[t=0.018392s, 12516 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018392s, 12516 KB] Landmarks generation time: 0.000000s +[t=0.018392s, 12516 KB] Discovered 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018392s, 12516 KB] 11 edges +[t=0.018392s, 12516 KB] approx. reasonable orders +[t=0.018392s, 12516 KB] Landmarks generation time: 0.000000s +[t=0.018392s, 12516 KB] Discovered 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018392s, 12516 KB] 11 edges +[t=0.018392s, 12516 KB] Landmark graph generation time: 0.000000s +[t=0.018392s, 12516 KB] Landmark graph contains 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018392s, 12516 KB] Landmark graph contains 11 orderings. +[t=0.018392s, 12516 KB] Simplifying 465 unary operators... done! [392 unary operators] +[t=0.018392s, 12516 KB] time to simplify: 0.000000s +[t=0.018392s, 12516 KB] Initializing additive heuristic... +[t=0.018392s, 12516 KB] Initializing FF heuristic... +[t=0.018392s, 12516 KB] Building successor generator...done! +[t=0.018392s, 12516 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018392s, 12516 KB] time for successor generation creation: 0.000000s +[t=0.018392s, 12516 KB] Variables: 69 +[t=0.018392s, 12516 KB] FactPairs: 138 +[t=0.018392s, 12516 KB] Bytes per state: 12 +[t=0.018392s, 12516 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018392s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.018392s, 12516 KB] New best heuristic value for ff: 6 +[t=0.018392s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.018392s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 6 +[t=0.018392s, 12516 KB] Initial heuristic value for ff: 6 +[t=0.018392s, 12516 KB] New best heuristic value for ff: 5 +[t=0.018392s, 12516 KB] g=1, 2 evaluated, 1 expanded +[t=0.018392s, 12516 KB] New best heuristic value for ff: 4 +[t=0.018392s, 12516 KB] g=2, 3 evaluated, 2 expanded +[t=0.018392s, 12516 KB] New best heuristic value for ff: 3 +[t=0.018392s, 12516 KB] g=3, 4 evaluated, 3 expanded +[t=0.018392s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.018392s, 12516 KB] New best heuristic value for ff: 2 +[t=0.018392s, 12516 KB] g=4, 6 evaluated, 5 expanded +[t=0.018392s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018392s, 12516 KB] New best heuristic value for ff: 1 +[t=0.018392s, 12516 KB] g=5, 7 evaluated, 6 expanded +[t=0.018392s, 12516 KB] Solution found! +[t=0.018392s, 12516 KB] Actual search time: 0.000000s move_evelyn_l2_l1 (1) move_derek_l2_l1 (1) move_cindy_l2_l1 (1) adopt-belief_alice_l1 (1) proselytize_bob_derek_l1 (1) proselytize_bob_cindy_l1 (1) -[t=0.017647s, 12516 KB] Plan length: 6 step(s). -[t=0.017647s, 12516 KB] Plan cost: 6 -[t=0.017647s, 12516 KB] Expanded 7 state(s). -[t=0.017647s, 12516 KB] Reopened 0 state(s). -[t=0.017647s, 12516 KB] Evaluated 8 state(s). -[t=0.017647s, 12516 KB] Evaluations: 16 -[t=0.017647s, 12516 KB] Generated 62 state(s). -[t=0.017647s, 12516 KB] Dead ends: 0 state(s). -[t=0.017647s, 12516 KB] Number of registered states: 8 -[t=0.017647s, 12516 KB] Int hash set load factor: 8/8 = 1.000000 -[t=0.017647s, 12516 KB] Int hash set resizes: 3 -[t=0.017647s, 12516 KB] Search time: 0.000000s -[t=0.017647s, 12516 KB] Total time: 0.017647s +[t=0.018392s, 12516 KB] Plan length: 6 step(s). +[t=0.018392s, 12516 KB] Plan cost: 6 +[t=0.018392s, 12516 KB] Expanded 7 state(s). +[t=0.018392s, 12516 KB] Reopened 0 state(s). +[t=0.018392s, 12516 KB] Evaluated 8 state(s). +[t=0.018392s, 12516 KB] Evaluations: 16 +[t=0.018392s, 12516 KB] Generated 62 state(s). +[t=0.018392s, 12516 KB] Dead ends: 0 state(s). +[t=0.018392s, 12516 KB] Number of registered states: 8 +[t=0.018392s, 12516 KB] Int hash set load factor: 8/8 = 1.000000 +[t=0.018392s, 12516 KB] Int hash set resizes: 3 +[t=0.018392s, 12516 KB] Search time: 0.000000s +[t=0.018392s, 12516 KB] Total time: 0.018392s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 55.76s +INFO Planner time: 11.83s diff --git a/bdi_extension/belief-desire/output_2.txt b/bdi_extension/belief-desire/output_2.txt index ddf7588..d9df3c0 100644 --- a/bdi_extension/belief-desire/output_2.txt +++ b/bdi_extension/belief-desire/output_2.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.170s CPU, 0.166s wall-clock] -Normalizing task... [0.010s CPU, 0.009s wall-clock] +Parsing: [0.030s CPU, 0.032s wall-clock] +Normalizing task... [0.000s CPU, 0.002s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.005s wall-clock] +Generating Datalog program... [0.000s CPU, 0.001s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.013s wall-clock] -Preparing model... [0.010s CPU, 0.011s wall-clock] -Generated 1285 rules. -Computing model... [0.010s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.010s CPU, 0.006s wall-clock] +Preparing model... [0.000s CPU, 0.003s wall-clock] +Generated 625 rules. +Computing model... [0.000s CPU, 0.001s wall-clock] 421 relevant atoms 0 auxiliary atoms 421 final queue length -586 total queue pushes -Completing instantiation... [0.000s CPU, 0.002s wall-clock] -Instantiating: [0.030s CPU, 0.033s wall-clock] +622 total queue pushes +Completing instantiation... [0.000s CPU, 0.001s wall-clock] +Instantiating: [0.010s CPU, 0.013s wall-clock] Computing fact groups... Finding invariants... -123 initial candidates -Finding invariants: [9.600s CPU, 9.544s wall-clock] +108 initial candidates +Finding invariants: [1.530s CPU, 1.521s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 84 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [9.600s CPU, 9.545s wall-clock] +Computing fact groups: [1.530s CPU, 1.522s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,8 +43,8 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.000s CPU, 0.003s wall-clock] -56 effect conditions simplified +Translating task: [0.010s CPU, 0.002s wall-clock] +68 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed @@ -56,7 +56,7 @@ Reordering and filtering variables... 0 of 0 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.010s CPU, 0.001s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] Translator variables: 28 Translator derived variables: 0 Translator facts: 56 @@ -65,10 +65,10 @@ Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 25 Translator axioms: 0 -Translator task size: 387 -Translator peak memory: 228284 KB +Translator task size: 381 +Translator peak memory: 100284 KB Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [9.820s CPU, 9.760s wall-clock] +Done! [1.580s CPU, 1.574s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,66 +76,66 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.012797s, 12120 KB] reading input... -[t=0.014173s, 12120 KB] done reading input! -[t=0.019255s, 12384 KB] Initializing landmark sum heuristic... -[t=0.019255s, 12384 KB] Generating landmark graph... -[t=0.019255s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.019255s, 12384 KB] Initializing Exploration... -[t=0.019255s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.019255s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.019255s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.019255s, 12384 KB] 5 edges -[t=0.019255s, 12384 KB] approx. reasonable orders -[t=0.019255s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.019255s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.019255s, 12384 KB] 5 edges -[t=0.019255s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.019255s, 12384 KB] Landmark graph contains 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.019255s, 12384 KB] Landmark graph contains 5 orderings. -[t=0.019255s, 12384 KB] Simplifying 122 unary operators... done! [98 unary operators] -[t=0.021638s, 12384 KB] time to simplify: 0.002384s -[t=0.021638s, 12384 KB] Initializing additive heuristic... -[t=0.021638s, 12384 KB] Initializing FF heuristic... -[t=0.021638s, 12384 KB] Building successor generator...done! -[t=0.021638s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.021638s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.021638s, 12384 KB] Variables: 28 -[t=0.021638s, 12384 KB] FactPairs: 56 -[t=0.021638s, 12384 KB] Bytes per state: 4 -[t=0.021638s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.021638s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.021638s, 12520 KB] New best heuristic value for ff: 3 -[t=0.021638s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.021638s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 -[t=0.021638s, 12520 KB] Initial heuristic value for ff: 3 -[t=0.021638s, 12520 KB] New best heuristic value for ff: 2 -[t=0.021638s, 12520 KB] g=2, 4 evaluated, 3 expanded -[t=0.021638s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.021638s, 12520 KB] New best heuristic value for ff: 1 -[t=0.021638s, 12520 KB] g=3, 5 evaluated, 4 expanded -[t=0.021638s, 12520 KB] Solution found! -[t=0.021638s, 12520 KB] Actual search time: 0.000000s +[t=0.011531s, 12120 KB] reading input... +[t=0.012670s, 12120 KB] done reading input! +[t=0.017329s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017329s, 12384 KB] Generating landmark graph... +[t=0.017329s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017329s, 12384 KB] Initializing Exploration... +[t=0.017329s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017329s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017329s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017329s, 12384 KB] 5 edges +[t=0.017329s, 12384 KB] approx. reasonable orders +[t=0.017329s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017329s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017329s, 12384 KB] 5 edges +[t=0.017329s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017329s, 12384 KB] Landmark graph contains 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017329s, 12384 KB] Landmark graph contains 5 orderings. +[t=0.017329s, 12384 KB] Simplifying 122 unary operators... done! [98 unary operators] +[t=0.017329s, 12384 KB] time to simplify: 0.000000s +[t=0.017329s, 12384 KB] Initializing additive heuristic... +[t=0.017329s, 12384 KB] Initializing FF heuristic... +[t=0.017329s, 12384 KB] Building successor generator...done! +[t=0.017329s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017329s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017329s, 12384 KB] Variables: 28 +[t=0.017329s, 12384 KB] FactPairs: 56 +[t=0.017329s, 12384 KB] Bytes per state: 4 +[t=0.017329s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017329s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.017329s, 12520 KB] New best heuristic value for ff: 3 +[t=0.017329s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.017329s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 +[t=0.017329s, 12520 KB] Initial heuristic value for ff: 3 +[t=0.017329s, 12520 KB] New best heuristic value for ff: 2 +[t=0.017329s, 12520 KB] g=2, 4 evaluated, 3 expanded +[t=0.017329s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017329s, 12520 KB] New best heuristic value for ff: 1 +[t=0.017329s, 12520 KB] g=3, 5 evaluated, 4 expanded +[t=0.017329s, 12520 KB] Solution found! +[t=0.017329s, 12520 KB] Actual search time: 0.000000s move_cindy_l2_l1 (1) move_bob_l2_l1 (1) adopt-belief_alice_l1 (1) proselytize_bob_cindy_l1 (1) -[t=0.021638s, 12520 KB] Plan length: 4 step(s). -[t=0.021638s, 12520 KB] Plan cost: 4 -[t=0.021638s, 12520 KB] Expanded 5 state(s). -[t=0.021638s, 12520 KB] Reopened 0 state(s). -[t=0.021638s, 12520 KB] Evaluated 6 state(s). -[t=0.021638s, 12520 KB] Evaluations: 12 -[t=0.021638s, 12520 KB] Generated 26 state(s). -[t=0.021638s, 12520 KB] Dead ends: 0 state(s). -[t=0.021638s, 12520 KB] Number of registered states: 6 -[t=0.021638s, 12520 KB] Int hash set load factor: 6/8 = 0.750000 -[t=0.021638s, 12520 KB] Int hash set resizes: 3 -[t=0.021638s, 12520 KB] Search time: 0.000000s -[t=0.021638s, 12520 KB] Total time: 0.021638s +[t=0.017329s, 12520 KB] Plan length: 4 step(s). +[t=0.017329s, 12520 KB] Plan cost: 4 +[t=0.017329s, 12520 KB] Expanded 5 state(s). +[t=0.017329s, 12520 KB] Reopened 0 state(s). +[t=0.017329s, 12520 KB] Evaluated 6 state(s). +[t=0.017329s, 12520 KB] Evaluations: 12 +[t=0.017329s, 12520 KB] Generated 26 state(s). +[t=0.017329s, 12520 KB] Dead ends: 0 state(s). +[t=0.017329s, 12520 KB] Number of registered states: 6 +[t=0.017329s, 12520 KB] Int hash set load factor: 6/8 = 0.750000 +[t=0.017329s, 12520 KB] Int hash set resizes: 3 +[t=0.017329s, 12520 KB] Search time: 0.000000s +[t=0.017329s, 12520 KB] Total time: 0.017329s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 10.22s +INFO Planner time: 1.88s diff --git a/bdi_extension/belief-desire/output_3.txt b/bdi_extension/belief-desire/output_3.txt index 99b9b3d..596098c 100644 --- a/bdi_extension/belief-desire/output_3.txt +++ b/bdi_extension/belief-desire/output_3.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.110s CPU, 0.110s wall-clock] -Normalizing task... [0.000s CPU, 0.005s wall-clock] +Parsing: [0.030s CPU, 0.032s wall-clock] +Normalizing task... [0.010s CPU, 0.002s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.003s wall-clock] +Generating Datalog program... [0.000s CPU, 0.001s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.009s wall-clock] -Preparing model... [0.010s CPU, 0.008s wall-clock] -Generated 1296 rules. +Normalizing Datalog program: [0.000s CPU, 0.006s wall-clock] +Preparing model... [0.010s CPU, 0.003s wall-clock] +Generated 625 rules. Computing model... [0.000s CPU, 0.001s wall-clock] 421 relevant atoms 0 auxiliary atoms 421 final queue length -586 total queue pushes -Completing instantiation... [0.000s CPU, 0.002s wall-clock] -Instantiating: [0.020s CPU, 0.024s wall-clock] +622 total queue pushes +Completing instantiation... [0.000s CPU, 0.001s wall-clock] +Instantiating: [0.010s CPU, 0.013s wall-clock] Computing fact groups... Finding invariants... -123 initial candidates -Finding invariants: [9.790s CPU, 9.818s wall-clock] +108 initial candidates +Finding invariants: [2.470s CPU, 2.483s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 84 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [9.790s CPU, 9.819s wall-clock] +Computing fact groups: [2.470s CPU, 2.484s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -59,9 +59,9 @@ Translator total mutex groups size: 0 Translator operators: 0 Translator axioms: 0 Translator task size: 4 -Translator peak memory: 219068 KB +Translator peak memory: 138172 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [9.930s CPU, 9.960s wall-clock] +Done! [2.520s CPU, 2.533s wall-clock] translate exit code: 0 INFO Running search (release). @@ -69,55 +69,55 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010111s, 12120 KB] reading input... -[t=0.010859s, 12120 KB] done reading input! -[t=0.015802s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015802s, 12384 KB] Generating landmark graph... -[t=0.015802s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015802s, 12384 KB] Initializing Exploration... -[t=0.015802s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015802s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015802s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015802s, 12384 KB] 0 edges -[t=0.015802s, 12384 KB] approx. reasonable orders -[t=0.015802s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015802s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015802s, 12384 KB] 0 edges -[t=0.015802s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015802s, 12384 KB] Landmark graph contains 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015802s, 12384 KB] Landmark graph contains 0 orderings. -[t=0.015802s, 12384 KB] Simplifying 0 unary operators... done! [0 unary operators] -[t=0.015802s, 12384 KB] time to simplify: 0.000000s -[t=0.015802s, 12384 KB] Initializing additive heuristic... -[t=0.015802s, 12384 KB] Initializing FF heuristic... -[t=0.015802s, 12384 KB] Building successor generator...done! -[t=0.015802s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015802s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015802s, 12384 KB] Variables: 1 -[t=0.015802s, 12384 KB] FactPairs: 2 -[t=0.015802s, 12384 KB] Bytes per state: 4 -[t=0.015802s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015802s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 0 -[t=0.015802s, 12516 KB] New best heuristic value for ff: 0 -[t=0.015802s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.015802s, 12516 KB] Solution found! -[t=0.015802s, 12516 KB] Actual search time: 0.000000s -[t=0.015802s, 12516 KB] Plan length: 0 step(s). -[t=0.015802s, 12516 KB] Plan cost: 0 -[t=0.015802s, 12516 KB] Expanded 0 state(s). -[t=0.015802s, 12516 KB] Reopened 0 state(s). -[t=0.015802s, 12516 KB] Evaluated 1 state(s). -[t=0.015802s, 12516 KB] Evaluations: 2 -[t=0.015802s, 12516 KB] Generated 0 state(s). -[t=0.015802s, 12516 KB] Dead ends: 0 state(s). -[t=0.015802s, 12516 KB] Number of registered states: 1 -[t=0.015802s, 12516 KB] Int hash set load factor: 1/1 = 1.000000 -[t=0.015802s, 12516 KB] Int hash set resizes: 0 -[t=0.015802s, 12516 KB] Search time: 0.000000s -[t=0.015802s, 12516 KB] Total time: 0.015802s +[t=0.011193s, 12120 KB] reading input... +[t=0.012056s, 12120 KB] done reading input! +[t=0.017138s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017138s, 12384 KB] Generating landmark graph... +[t=0.017138s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017138s, 12384 KB] Initializing Exploration... +[t=0.017138s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017138s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017138s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017138s, 12384 KB] 0 edges +[t=0.017138s, 12384 KB] approx. reasonable orders +[t=0.017138s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017138s, 12384 KB] Discovered 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017138s, 12384 KB] 0 edges +[t=0.017138s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017138s, 12384 KB] Landmark graph contains 1 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017138s, 12384 KB] Landmark graph contains 0 orderings. +[t=0.017138s, 12384 KB] Simplifying 0 unary operators... done! [0 unary operators] +[t=0.017138s, 12384 KB] time to simplify: 0.000000s +[t=0.017138s, 12384 KB] Initializing additive heuristic... +[t=0.017138s, 12384 KB] Initializing FF heuristic... +[t=0.017138s, 12384 KB] Building successor generator...done! +[t=0.017138s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017138s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017138s, 12384 KB] Variables: 1 +[t=0.017138s, 12384 KB] FactPairs: 2 +[t=0.017138s, 12384 KB] Bytes per state: 4 +[t=0.017138s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017138s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 0 +[t=0.017138s, 12516 KB] New best heuristic value for ff: 0 +[t=0.017138s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.017138s, 12516 KB] Solution found! +[t=0.017138s, 12516 KB] Actual search time: 0.000000s +[t=0.017138s, 12516 KB] Plan length: 0 step(s). +[t=0.017138s, 12516 KB] Plan cost: 0 +[t=0.017138s, 12516 KB] Expanded 0 state(s). +[t=0.017138s, 12516 KB] Reopened 0 state(s). +[t=0.017138s, 12516 KB] Evaluated 1 state(s). +[t=0.017138s, 12516 KB] Evaluations: 2 +[t=0.017138s, 12516 KB] Generated 0 state(s). +[t=0.017138s, 12516 KB] Dead ends: 0 state(s). +[t=0.017138s, 12516 KB] Number of registered states: 1 +[t=0.017138s, 12516 KB] Int hash set load factor: 1/1 = 1.000000 +[t=0.017138s, 12516 KB] Int hash set resizes: 0 +[t=0.017138s, 12516 KB] Search time: 0.000000s +[t=0.017138s, 12516 KB] Total time: 0.017138s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 10.21s +INFO Planner time: 2.82s diff --git a/bdi_extension/belief-desire/output_4.txt b/bdi_extension/belief-desire/output_4.txt index 7568ed9..a712245 100644 --- a/bdi_extension/belief-desire/output_4.txt +++ b/bdi_extension/belief-desire/output_4.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.100s CPU, 0.109s wall-clock] -Normalizing task... [0.010s CPU, 0.004s wall-clock] +Parsing: [0.040s CPU, 0.032s wall-clock] +Normalizing task... [0.000s CPU, 0.002s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.003s wall-clock] +Generating Datalog program... [0.000s CPU, 0.001s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.008s wall-clock] -Preparing model... [0.010s CPU, 0.008s wall-clock] -Generated 1285 rules. +Normalizing Datalog program: [0.000s CPU, 0.006s wall-clock] +Preparing model... [0.000s CPU, 0.003s wall-clock] +Generated 625 rules. Computing model... [0.000s CPU, 0.001s wall-clock] 421 relevant atoms 0 auxiliary atoms 421 final queue length -586 total queue pushes -Completing instantiation... [0.000s CPU, 0.002s wall-clock] -Instantiating: [0.020s CPU, 0.022s wall-clock] +622 total queue pushes +Completing instantiation... [0.010s CPU, 0.001s wall-clock] +Instantiating: [0.010s CPU, 0.013s wall-clock] Computing fact groups... Finding invariants... -123 initial candidates -Finding invariants: [9.550s CPU, 9.522s wall-clock] +108 initial candidates +Finding invariants: [1.430s CPU, 1.433s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 84 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [9.550s CPU, 9.523s wall-clock] +Computing fact groups: [1.430s CPU, 1.434s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,8 +43,8 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.003s wall-clock] -56 effect conditions simplified +Translating task: [0.000s CPU, 0.002s wall-clock] +68 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed @@ -65,10 +65,10 @@ Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 25 Translator axioms: 0 -Translator task size: 382 -Translator peak memory: 224188 KB +Translator task size: 376 +Translator peak memory: 95164 KB Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [9.690s CPU, 9.665s wall-clock] +Done! [1.480s CPU, 1.485s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,61 +76,61 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010055s, 12120 KB] reading input... -[t=0.010788s, 12120 KB] done reading input! -[t=0.015667s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015667s, 12384 KB] Generating landmark graph... -[t=0.015667s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015667s, 12384 KB] Initializing Exploration... -[t=0.015667s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015667s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015667s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015667s, 12384 KB] 1 edges -[t=0.015667s, 12384 KB] approx. reasonable orders -[t=0.015667s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015667s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015667s, 12384 KB] 1 edges -[t=0.015667s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015667s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015667s, 12384 KB] Landmark graph contains 1 orderings. -[t=0.015667s, 12384 KB] Simplifying 120 unary operators... done! [96 unary operators] -[t=0.015667s, 12384 KB] time to simplify: 0.000000s -[t=0.015667s, 12384 KB] Initializing additive heuristic... -[t=0.015667s, 12384 KB] Initializing FF heuristic... -[t=0.015667s, 12384 KB] Building successor generator...done! -[t=0.015667s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015667s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015667s, 12384 KB] Variables: 27 -[t=0.015667s, 12384 KB] FactPairs: 54 -[t=0.015667s, 12384 KB] Bytes per state: 4 -[t=0.015667s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015667s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.015667s, 12520 KB] New best heuristic value for ff: 2 -[t=0.015667s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.015667s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 1 -[t=0.015667s, 12520 KB] Initial heuristic value for ff: 2 -[t=0.015667s, 12520 KB] New best heuristic value for ff: 1 -[t=0.015667s, 12520 KB] g=1, 3 evaluated, 2 expanded -[t=0.015667s, 12520 KB] Solution found! -[t=0.015667s, 12520 KB] Actual search time: 0.000000s +[t=0.011594s, 12120 KB] reading input... +[t=0.012487s, 12120 KB] done reading input! +[t=0.018095s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018095s, 12384 KB] Generating landmark graph... +[t=0.018095s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018095s, 12384 KB] Initializing Exploration... +[t=0.018095s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018095s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018095s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018095s, 12384 KB] 1 edges +[t=0.018095s, 12384 KB] approx. reasonable orders +[t=0.018095s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018095s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018095s, 12384 KB] 1 edges +[t=0.018095s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018095s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018095s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.018095s, 12384 KB] Simplifying 120 unary operators... done! [96 unary operators] +[t=0.018095s, 12384 KB] time to simplify: 0.000000s +[t=0.018095s, 12384 KB] Initializing additive heuristic... +[t=0.018095s, 12384 KB] Initializing FF heuristic... +[t=0.018095s, 12384 KB] Building successor generator...done! +[t=0.018095s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018095s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018095s, 12384 KB] Variables: 27 +[t=0.018095s, 12384 KB] FactPairs: 54 +[t=0.018095s, 12384 KB] Bytes per state: 4 +[t=0.018095s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018095s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018095s, 12520 KB] New best heuristic value for ff: 2 +[t=0.018095s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.018095s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.018095s, 12520 KB] Initial heuristic value for ff: 2 +[t=0.018095s, 12520 KB] New best heuristic value for ff: 1 +[t=0.018095s, 12520 KB] g=1, 3 evaluated, 2 expanded +[t=0.018095s, 12520 KB] Solution found! +[t=0.018095s, 12520 KB] Actual search time: 0.000000s move_bob_l2_l1 (1) adopt-belief_alice_l1 (1) -[t=0.015667s, 12520 KB] Plan length: 2 step(s). -[t=0.015667s, 12520 KB] Plan cost: 2 -[t=0.015667s, 12520 KB] Expanded 3 state(s). -[t=0.015667s, 12520 KB] Reopened 0 state(s). -[t=0.015667s, 12520 KB] Evaluated 4 state(s). -[t=0.015667s, 12520 KB] Evaluations: 8 -[t=0.015667s, 12520 KB] Generated 12 state(s). -[t=0.015667s, 12520 KB] Dead ends: 0 state(s). -[t=0.015667s, 12520 KB] Number of registered states: 4 -[t=0.015667s, 12520 KB] Int hash set load factor: 4/4 = 1.000000 -[t=0.015667s, 12520 KB] Int hash set resizes: 2 -[t=0.015667s, 12520 KB] Search time: 0.000000s -[t=0.015667s, 12520 KB] Total time: 0.015667s +[t=0.018095s, 12520 KB] Plan length: 2 step(s). +[t=0.018095s, 12520 KB] Plan cost: 2 +[t=0.018095s, 12520 KB] Expanded 3 state(s). +[t=0.018095s, 12520 KB] Reopened 0 state(s). +[t=0.018095s, 12520 KB] Evaluated 4 state(s). +[t=0.018095s, 12520 KB] Evaluations: 8 +[t=0.018095s, 12520 KB] Generated 12 state(s). +[t=0.018095s, 12520 KB] Dead ends: 0 state(s). +[t=0.018095s, 12520 KB] Number of registered states: 4 +[t=0.018095s, 12520 KB] Int hash set load factor: 4/4 = 1.000000 +[t=0.018095s, 12520 KB] Int hash set resizes: 2 +[t=0.018095s, 12520 KB] Search time: 0.000000s +[t=0.018095s, 12520 KB] Total time: 0.018095s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 9.96s +INFO Planner time: 1.78s diff --git a/bdi_extension/belief-desire/output_5.txt b/bdi_extension/belief-desire/output_5.txt index 13f807b..55f0f56 100644 --- a/bdi_extension/belief-desire/output_5.txt +++ b/bdi_extension/belief-desire/output_5.txt @@ -8,25 +8,25 @@ INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... Warning: Atom pbcindy_book-teachings() is specified twice in initial state specification -Parsing: [0.110s CPU, 0.110s wall-clock] -Normalizing task... [0.010s CPU, 0.005s wall-clock] +Parsing: [0.040s CPU, 0.031s wall-clock] +Normalizing task... [0.000s CPU, 0.002s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.003s wall-clock] +Generating Datalog program... [0.000s CPU, 0.001s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.000s CPU, 0.008s wall-clock] -Preparing model... [0.010s CPU, 0.008s wall-clock] -Generated 1285 rules. +Normalizing Datalog program: [0.000s CPU, 0.006s wall-clock] +Preparing model... [0.000s CPU, 0.003s wall-clock] +Generated 625 rules. Computing model... [0.000s CPU, 0.001s wall-clock] 416 relevant atoms 0 auxiliary atoms 416 final queue length -571 total queue pushes -Completing instantiation... [0.010s CPU, 0.002s wall-clock] -Instantiating: [0.020s CPU, 0.022s wall-clock] +607 total queue pushes +Completing instantiation... [0.010s CPU, 0.001s wall-clock] +Instantiating: [0.010s CPU, 0.013s wall-clock] Computing fact groups... Finding invariants... -123 initial candidates -Finding invariants: [9.590s CPU, 9.610s wall-clock] +108 initial candidates +Finding invariants: [1.190s CPU, 1.198s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -34,9 +34,9 @@ Choosing groups... 80 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [9.590s CPU, 9.611s wall-clock] +Computing fact groups: [1.190s CPU, 1.199s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] -Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] +Building dictionary for full mutex groups... [0.010s CPU, 0.000s wall-clock] Building mutex information... Building mutex information: [0.000s CPU, 0.000s wall-clock] Translating task... @@ -44,8 +44,8 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.003s wall-clock] -52 effect conditions simplified +Translating task: [0.000s CPU, 0.002s wall-clock] +70 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed @@ -67,9 +67,9 @@ Translator total mutex groups size: 0 Translator operators: 25 Translator axioms: 0 Translator task size: 351 -Translator peak memory: 228284 KB -Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [9.740s CPU, 9.753s wall-clock] +Translator peak memory: 85948 KB +Writing output... [0.000s CPU, 0.001s wall-clock] +Done! [1.250s CPU, 1.249s wall-clock] translate exit code: 0 INFO Running search (release). @@ -77,71 +77,71 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010261s, 12120 KB] reading input... -[t=0.011021s, 12120 KB] done reading input! -[t=0.015516s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015516s, 12384 KB] Generating landmark graph... -[t=0.015516s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015516s, 12384 KB] Initializing Exploration... -[t=0.015516s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015516s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015516s, 12384 KB] Discovered 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015516s, 12384 KB] 10 edges -[t=0.015516s, 12384 KB] approx. reasonable orders -[t=0.015516s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015516s, 12384 KB] Discovered 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015516s, 12384 KB] 10 edges -[t=0.015516s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015516s, 12384 KB] Landmark graph contains 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.017127s, 12384 KB] Landmark graph contains 10 orderings. -[t=0.017127s, 12384 KB] Simplifying 110 unary operators... done! [83 unary operators] -[t=0.017127s, 12384 KB] time to simplify: 0.000000s -[t=0.017127s, 12384 KB] Initializing additive heuristic... -[t=0.017127s, 12384 KB] Initializing FF heuristic... -[t=0.017127s, 12384 KB] Building successor generator...done! -[t=0.017127s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.017127s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.017127s, 12384 KB] Variables: 26 -[t=0.017127s, 12384 KB] FactPairs: 52 -[t=0.017127s, 12384 KB] Bytes per state: 4 -[t=0.017127s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.017127s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017127s, 12520 KB] New best heuristic value for ff: 4 -[t=0.017127s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.017127s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 4 -[t=0.017127s, 12520 KB] Initial heuristic value for ff: 4 -[t=0.017127s, 12520 KB] New best heuristic value for ff: 3 -[t=0.017127s, 12520 KB] g=1, 2 evaluated, 1 expanded -[t=0.017127s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017127s, 12520 KB] g=2, 3 evaluated, 2 expanded -[t=0.017127s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017127s, 12520 KB] New best heuristic value for ff: 2 -[t=0.017127s, 12520 KB] g=3, 4 evaluated, 3 expanded -[t=0.017127s, 12520 KB] New best heuristic value for ff: 1 -[t=0.017127s, 12520 KB] g=4, 5 evaluated, 4 expanded -[t=0.017127s, 12520 KB] Solution found! -[t=0.017127s, 12520 KB] Actual search time: 0.000000s +[t=0.011725s, 12120 KB] reading input... +[t=0.012575s, 12120 KB] done reading input! +[t=0.018286s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018286s, 12384 KB] Generating landmark graph... +[t=0.018286s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018286s, 12384 KB] Initializing Exploration... +[t=0.018286s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018286s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018286s, 12384 KB] Discovered 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018286s, 12384 KB] 10 edges +[t=0.018286s, 12384 KB] approx. reasonable orders +[t=0.018286s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018286s, 12384 KB] Discovered 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018286s, 12384 KB] 10 edges +[t=0.018286s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018286s, 12384 KB] Landmark graph contains 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018286s, 12384 KB] Landmark graph contains 10 orderings. +[t=0.018286s, 12384 KB] Simplifying 110 unary operators... done! [83 unary operators] +[t=0.018286s, 12384 KB] time to simplify: 0.000000s +[t=0.018286s, 12384 KB] Initializing additive heuristic... +[t=0.018286s, 12384 KB] Initializing FF heuristic... +[t=0.018286s, 12384 KB] Building successor generator...done! +[t=0.018286s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018286s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018286s, 12384 KB] Variables: 26 +[t=0.018286s, 12384 KB] FactPairs: 52 +[t=0.018286s, 12384 KB] Bytes per state: 4 +[t=0.018286s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018286s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.018286s, 12520 KB] New best heuristic value for ff: 4 +[t=0.018286s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.018286s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 4 +[t=0.018286s, 12520 KB] Initial heuristic value for ff: 4 +[t=0.018286s, 12520 KB] New best heuristic value for ff: 3 +[t=0.018286s, 12520 KB] g=1, 2 evaluated, 1 expanded +[t=0.018286s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018286s, 12520 KB] g=2, 3 evaluated, 2 expanded +[t=0.018286s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018286s, 12520 KB] New best heuristic value for ff: 2 +[t=0.018286s, 12520 KB] g=3, 4 evaluated, 3 expanded +[t=0.018286s, 12520 KB] New best heuristic value for ff: 1 +[t=0.018286s, 12520 KB] g=4, 5 evaluated, 4 expanded +[t=0.018286s, 12520 KB] Solution found! +[t=0.018286s, 12520 KB] Actual search time: 0.000000s move_cindy_l2_l1 (1) move_alice_l1_l2 (1) adopt-belief_alice_l2 (1) move_cindy_l1_l2 (1) proselytize_alice_cindy_l2 (1) -[t=0.017127s, 12520 KB] Plan length: 5 step(s). -[t=0.017127s, 12520 KB] Plan cost: 5 -[t=0.017127s, 12520 KB] Expanded 5 state(s). -[t=0.017127s, 12520 KB] Reopened 0 state(s). -[t=0.017127s, 12520 KB] Evaluated 6 state(s). -[t=0.017127s, 12520 KB] Evaluations: 12 -[t=0.017127s, 12520 KB] Generated 28 state(s). -[t=0.017127s, 12520 KB] Dead ends: 0 state(s). -[t=0.017127s, 12520 KB] Number of registered states: 6 -[t=0.017127s, 12520 KB] Int hash set load factor: 6/8 = 0.750000 -[t=0.017127s, 12520 KB] Int hash set resizes: 3 -[t=0.017127s, 12520 KB] Search time: 0.000000s -[t=0.017127s, 12520 KB] Total time: 0.017127s +[t=0.018286s, 12520 KB] Plan length: 5 step(s). +[t=0.018286s, 12520 KB] Plan cost: 5 +[t=0.018286s, 12520 KB] Expanded 5 state(s). +[t=0.018286s, 12520 KB] Reopened 0 state(s). +[t=0.018286s, 12520 KB] Evaluated 6 state(s). +[t=0.018286s, 12520 KB] Evaluations: 12 +[t=0.018286s, 12520 KB] Generated 28 state(s). +[t=0.018286s, 12520 KB] Dead ends: 0 state(s). +[t=0.018286s, 12520 KB] Number of registered states: 6 +[t=0.018286s, 12520 KB] Int hash set load factor: 6/8 = 0.750000 +[t=0.018286s, 12520 KB] Int hash set resizes: 3 +[t=0.018286s, 12520 KB] Search time: 0.000000s +[t=0.018286s, 12520 KB] Total time: 0.018286s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 10.01s +INFO Planner time: 1.54s diff --git a/bdi_extension/belief-desire/output_6.txt b/bdi_extension/belief-desire/output_6.txt index d611083..6729011 100644 --- a/bdi_extension/belief-desire/output_6.txt +++ b/bdi_extension/belief-desire/output_6.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.110s CPU, 0.115s wall-clock] -Normalizing task... [0.010s CPU, 0.005s wall-clock] +Parsing: [0.030s CPU, 0.031s wall-clock] +Normalizing task... [0.000s CPU, 0.002s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.003s wall-clock] +Generating Datalog program... [0.000s CPU, 0.001s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.009s wall-clock] -Preparing model... [0.000s CPU, 0.008s wall-clock] -Generated 1285 rules. -Computing model... [0.010s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.010s CPU, 0.006s wall-clock] +Preparing model... [0.000s CPU, 0.003s wall-clock] +Generated 625 rules. +Computing model... [0.000s CPU, 0.001s wall-clock] 416 relevant atoms 0 auxiliary atoms 416 final queue length -571 total queue pushes +607 total queue pushes Completing instantiation... [0.000s CPU, 0.002s wall-clock] -Instantiating: [0.020s CPU, 0.024s wall-clock] +Instantiating: [0.010s CPU, 0.014s wall-clock] Computing fact groups... Finding invariants... -123 initial candidates -Finding invariants: [9.330s CPU, 9.385s wall-clock] +108 initial candidates +Finding invariants: [0.770s CPU, 0.767s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 80 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [9.330s CPU, 9.386s wall-clock] +Computing fact groups: [0.770s CPU, 0.768s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,8 +43,8 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.000s CPU, 0.003s wall-clock] -52 effect conditions simplified +Translating task: [0.010s CPU, 0.002s wall-clock] +70 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed @@ -56,7 +56,7 @@ Reordering and filtering variables... 0 of 0 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.010s CPU, 0.001s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] Translator variables: 27 Translator derived variables: 0 Translator facts: 54 @@ -66,9 +66,9 @@ Translator total mutex groups size: 0 Translator operators: 25 Translator axioms: 0 Translator task size: 356 -Translator peak memory: 242620 KB +Translator peak memory: 67004 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [9.480s CPU, 9.535s wall-clock] +Done! [0.820s CPU, 0.820s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,65 +76,65 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010379s, 12120 KB] reading input... -[t=0.011138s, 12120 KB] done reading input! -[t=0.015521s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015521s, 12384 KB] Generating landmark graph... -[t=0.015521s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015521s, 12384 KB] Initializing Exploration... -[t=0.015521s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.016776s, 12384 KB] Landmarks generation time: 0.001255s -[t=0.016776s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016776s, 12384 KB] 5 edges -[t=0.016776s, 12384 KB] approx. reasonable orders -[t=0.016776s, 12384 KB] Landmarks generation time: 0.001255s -[t=0.016776s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016776s, 12384 KB] 5 edges -[t=0.016776s, 12384 KB] Landmark graph generation time: 0.001255s -[t=0.016776s, 12384 KB] Landmark graph contains 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016776s, 12384 KB] Landmark graph contains 5 orderings. -[t=0.016776s, 12384 KB] Simplifying 112 unary operators... done! [85 unary operators] -[t=0.016776s, 12384 KB] time to simplify: 0.000000s -[t=0.016776s, 12384 KB] Initializing additive heuristic... -[t=0.016776s, 12384 KB] Initializing FF heuristic... -[t=0.016776s, 12384 KB] Building successor generator...done! -[t=0.016776s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.016776s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.016776s, 12384 KB] Variables: 27 -[t=0.016776s, 12384 KB] FactPairs: 54 -[t=0.016776s, 12384 KB] Bytes per state: 4 -[t=0.016776s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016776s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.016776s, 12520 KB] New best heuristic value for ff: 3 -[t=0.016776s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.016776s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 -[t=0.016776s, 12520 KB] Initial heuristic value for ff: 3 -[t=0.016776s, 12520 KB] New best heuristic value for ff: 2 -[t=0.016776s, 12520 KB] g=1, 3 evaluated, 2 expanded -[t=0.016776s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.016776s, 12520 KB] New best heuristic value for ff: 1 -[t=0.016776s, 12520 KB] g=2, 4 evaluated, 3 expanded -[t=0.016776s, 12520 KB] Solution found! -[t=0.016776s, 12520 KB] Actual search time: 0.000000s +[t=0.011989s, 12120 KB] reading input... +[t=0.012623s, 12120 KB] done reading input! +[t=0.017489s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017489s, 12384 KB] Generating landmark graph... +[t=0.017489s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017489s, 12384 KB] Initializing Exploration... +[t=0.017489s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017489s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017489s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017489s, 12384 KB] 5 edges +[t=0.017489s, 12384 KB] approx. reasonable orders +[t=0.017489s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017489s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017489s, 12384 KB] 5 edges +[t=0.017489s, 12384 KB] Landmark graph generation time: 0.001591s +[t=0.019079s, 12384 KB] Landmark graph contains 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019079s, 12384 KB] Landmark graph contains 5 orderings. +[t=0.019079s, 12384 KB] Simplifying 112 unary operators... done! [85 unary operators] +[t=0.019079s, 12384 KB] time to simplify: 0.000000s +[t=0.019079s, 12384 KB] Initializing additive heuristic... +[t=0.019079s, 12384 KB] Initializing FF heuristic... +[t=0.019079s, 12384 KB] Building successor generator...done! +[t=0.019079s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.019079s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.019079s, 12384 KB] Variables: 27 +[t=0.019079s, 12384 KB] FactPairs: 54 +[t=0.019079s, 12384 KB] Bytes per state: 4 +[t=0.019079s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.019079s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.019079s, 12520 KB] New best heuristic value for ff: 3 +[t=0.019079s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.019079s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 +[t=0.019079s, 12520 KB] Initial heuristic value for ff: 3 +[t=0.019079s, 12520 KB] New best heuristic value for ff: 2 +[t=0.019079s, 12520 KB] g=1, 3 evaluated, 2 expanded +[t=0.019079s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.019079s, 12520 KB] New best heuristic value for ff: 1 +[t=0.019079s, 12520 KB] g=2, 4 evaluated, 3 expanded +[t=0.019079s, 12520 KB] Solution found! +[t=0.019079s, 12520 KB] Actual search time: 0.000000s move_alice_l1_l2 (1) adopt-belief_alice_l2 (1) proselytize_bob_cindy_l2 (1) -[t=0.016776s, 12520 KB] Plan length: 3 step(s). -[t=0.016776s, 12520 KB] Plan cost: 3 -[t=0.016776s, 12520 KB] Expanded 4 state(s). -[t=0.016776s, 12520 KB] Reopened 0 state(s). -[t=0.016776s, 12520 KB] Evaluated 5 state(s). -[t=0.016776s, 12520 KB] Evaluations: 10 -[t=0.016776s, 12520 KB] Generated 20 state(s). -[t=0.016776s, 12520 KB] Dead ends: 0 state(s). -[t=0.016776s, 12520 KB] Number of registered states: 5 -[t=0.016776s, 12520 KB] Int hash set load factor: 5/8 = 0.625000 -[t=0.016776s, 12520 KB] Int hash set resizes: 3 -[t=0.016776s, 12520 KB] Search time: 0.000000s -[t=0.016776s, 12520 KB] Total time: 0.016776s +[t=0.019079s, 12520 KB] Plan length: 3 step(s). +[t=0.019079s, 12520 KB] Plan cost: 3 +[t=0.019079s, 12520 KB] Expanded 4 state(s). +[t=0.019079s, 12520 KB] Reopened 0 state(s). +[t=0.019079s, 12520 KB] Evaluated 5 state(s). +[t=0.019079s, 12520 KB] Evaluations: 10 +[t=0.019079s, 12520 KB] Generated 20 state(s). +[t=0.019079s, 12520 KB] Dead ends: 0 state(s). +[t=0.019079s, 12520 KB] Number of registered states: 5 +[t=0.019079s, 12520 KB] Int hash set load factor: 5/8 = 0.625000 +[t=0.019079s, 12520 KB] Int hash set resizes: 3 +[t=0.019079s, 12520 KB] Search time: 0.000000s +[t=0.019079s, 12520 KB] Total time: 0.019079s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 9.74s +INFO Planner time: 1.12s diff --git a/bdi_extension/belief-desire/output_7.txt b/bdi_extension/belief-desire/output_7.txt index 1dc9198..b1422d2 100644 --- a/bdi_extension/belief-desire/output_7.txt +++ b/bdi_extension/belief-desire/output_7.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.140s CPU, 0.134s wall-clock] -Normalizing task... [0.000s CPU, 0.004s wall-clock] +Parsing: [0.030s CPU, 0.034s wall-clock] +Normalizing task... [0.010s CPU, 0.002s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.003s wall-clock] +Generating Datalog program... [0.000s CPU, 0.001s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.009s wall-clock] -Preparing model... [0.010s CPU, 0.013s wall-clock] -Generated 1391 rules. -Computing model... [0.010s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.006s wall-clock] +Preparing model... [0.010s CPU, 0.003s wall-clock] +Generated 625 rules. +Computing model... [0.000s CPU, 0.001s wall-clock] 421 relevant atoms 0 auxiliary atoms 421 final queue length -591 total queue pushes -Completing instantiation... [0.000s CPU, 0.002s wall-clock] -Instantiating: [0.030s CPU, 0.030s wall-clock] +627 total queue pushes +Completing instantiation... [0.000s CPU, 0.001s wall-clock] +Instantiating: [0.010s CPU, 0.014s wall-clock] Computing fact groups... Finding invariants... -123 initial candidates -Finding invariants: [10.030s CPU, 10.042s wall-clock] +108 initial candidates +Finding invariants: [0.190s CPU, 0.181s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 84 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.030s CPU, 10.042s wall-clock] +Computing fact groups: [0.190s CPU, 0.182s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,8 +43,8 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.003s wall-clock] -56 effect conditions simplified +Translating task: [0.000s CPU, 0.002s wall-clock] +68 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed @@ -65,10 +65,10 @@ Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 25 Translator axioms: 0 -Translator task size: 389 -Translator peak memory: 223164 KB +Translator task size: 383 +Translator peak memory: 41912 KB Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [10.210s CPU, 10.217s wall-clock] +Done! [0.240s CPU, 0.236s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,71 +76,71 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010144s, 12120 KB] reading input... -[t=0.010863s, 12120 KB] done reading input! -[t=0.016124s, 12384 KB] Initializing landmark sum heuristic... -[t=0.016124s, 12384 KB] Generating landmark graph... -[t=0.016124s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.016124s, 12384 KB] Initializing Exploration... -[t=0.016124s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.016124s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.016124s, 12384 KB] Discovered 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016124s, 12384 KB] 10 edges -[t=0.016124s, 12384 KB] approx. reasonable orders -[t=0.016124s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.016124s, 12384 KB] Discovered 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016124s, 12384 KB] 10 edges -[t=0.016124s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.016124s, 12384 KB] Landmark graph contains 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016124s, 12384 KB] Landmark graph contains 10 orderings. -[t=0.016124s, 12384 KB] Simplifying 120 unary operators... done! [99 unary operators] -[t=0.016124s, 12384 KB] time to simplify: 0.000000s -[t=0.016124s, 12384 KB] Initializing additive heuristic... -[t=0.016124s, 12384 KB] Initializing FF heuristic... -[t=0.016124s, 12384 KB] Building successor generator...done! -[t=0.016124s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.016124s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.016124s, 12384 KB] Variables: 28 -[t=0.016124s, 12384 KB] FactPairs: 56 -[t=0.016124s, 12384 KB] Bytes per state: 4 -[t=0.016124s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016124s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.016124s, 12520 KB] New best heuristic value for ff: 4 -[t=0.016124s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.016124s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 4 -[t=0.016124s, 12520 KB] Initial heuristic value for ff: 4 -[t=0.016124s, 12520 KB] New best heuristic value for ff: 3 -[t=0.016124s, 12520 KB] g=1, 3 evaluated, 2 expanded -[t=0.016124s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.016124s, 12520 KB] g=2, 4 evaluated, 3 expanded -[t=0.016124s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.016124s, 12520 KB] New best heuristic value for ff: 2 -[t=0.016124s, 12520 KB] g=3, 5 evaluated, 4 expanded -[t=0.016124s, 12520 KB] New best heuristic value for ff: 1 -[t=0.016124s, 12520 KB] g=4, 6 evaluated, 5 expanded -[t=0.016124s, 12520 KB] Solution found! -[t=0.016124s, 12520 KB] Actual search time: 0.000000s +[t=0.011770s, 12120 KB] reading input... +[t=0.012617s, 12120 KB] done reading input! +[t=0.018547s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018547s, 12384 KB] Generating landmark graph... +[t=0.018547s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018547s, 12384 KB] Initializing Exploration... +[t=0.018547s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018547s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018547s, 12384 KB] Discovered 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018547s, 12384 KB] 10 edges +[t=0.018547s, 12384 KB] approx. reasonable orders +[t=0.018547s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018547s, 12384 KB] Discovered 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018547s, 12384 KB] 10 edges +[t=0.018547s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018547s, 12384 KB] Landmark graph contains 9 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018547s, 12384 KB] Landmark graph contains 10 orderings. +[t=0.018547s, 12384 KB] Simplifying 120 unary operators... done! [99 unary operators] +[t=0.018547s, 12384 KB] time to simplify: 0.000000s +[t=0.018547s, 12384 KB] Initializing additive heuristic... +[t=0.018547s, 12384 KB] Initializing FF heuristic... +[t=0.018547s, 12384 KB] Building successor generator...done! +[t=0.018547s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018547s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018547s, 12384 KB] Variables: 28 +[t=0.018547s, 12384 KB] FactPairs: 56 +[t=0.018547s, 12384 KB] Bytes per state: 4 +[t=0.018547s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018547s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.018547s, 12520 KB] New best heuristic value for ff: 4 +[t=0.018547s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.018547s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 4 +[t=0.018547s, 12520 KB] Initial heuristic value for ff: 4 +[t=0.018547s, 12520 KB] New best heuristic value for ff: 3 +[t=0.018547s, 12520 KB] g=1, 3 evaluated, 2 expanded +[t=0.018547s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018547s, 12520 KB] g=2, 4 evaluated, 3 expanded +[t=0.018547s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018547s, 12520 KB] New best heuristic value for ff: 2 +[t=0.018547s, 12520 KB] g=3, 5 evaluated, 4 expanded +[t=0.018547s, 12520 KB] New best heuristic value for ff: 1 +[t=0.018547s, 12520 KB] g=4, 6 evaluated, 5 expanded +[t=0.018547s, 12520 KB] Solution found! +[t=0.018547s, 12520 KB] Actual search time: 0.000000s move_bob_l2_l1 (1) move_alice_l1_l2 (1) adopt-belief_alice_l2 (1) move_bob_l1_l2 (1) proselytize_alice_bob_l2 (1) -[t=0.016124s, 12520 KB] Plan length: 5 step(s). -[t=0.016124s, 12520 KB] Plan cost: 5 -[t=0.016124s, 12520 KB] Expanded 6 state(s). -[t=0.016124s, 12520 KB] Reopened 0 state(s). -[t=0.016124s, 12520 KB] Evaluated 7 state(s). -[t=0.016124s, 12520 KB] Evaluations: 14 -[t=0.016124s, 12520 KB] Generated 26 state(s). -[t=0.016124s, 12520 KB] Dead ends: 0 state(s). -[t=0.016124s, 12520 KB] Number of registered states: 7 -[t=0.016124s, 12520 KB] Int hash set load factor: 7/8 = 0.875000 -[t=0.016124s, 12520 KB] Int hash set resizes: 3 -[t=0.016124s, 12520 KB] Search time: 0.000000s -[t=0.016124s, 12520 KB] Total time: 0.016124s +[t=0.018547s, 12520 KB] Plan length: 5 step(s). +[t=0.018547s, 12520 KB] Plan cost: 5 +[t=0.018547s, 12520 KB] Expanded 6 state(s). +[t=0.018547s, 12520 KB] Reopened 0 state(s). +[t=0.018547s, 12520 KB] Evaluated 7 state(s). +[t=0.018547s, 12520 KB] Evaluations: 14 +[t=0.018547s, 12520 KB] Generated 26 state(s). +[t=0.018547s, 12520 KB] Dead ends: 0 state(s). +[t=0.018547s, 12520 KB] Number of registered states: 7 +[t=0.018547s, 12520 KB] Int hash set load factor: 7/8 = 0.875000 +[t=0.018547s, 12520 KB] Int hash set resizes: 3 +[t=0.018547s, 12520 KB] Search time: 0.000000s +[t=0.018547s, 12520 KB] Total time: 0.018547s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 10.48s +INFO Planner time: 0.54s diff --git a/bdi_extension/belief-desire/output_8.txt b/bdi_extension/belief-desire/output_8.txt index a06e48e..16917c1 100644 --- a/bdi_extension/belief-desire/output_8.txt +++ b/bdi_extension/belief-desire/output_8.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.110s CPU, 0.110s wall-clock] -Normalizing task... [0.000s CPU, 0.004s wall-clock] +Parsing: [0.040s CPU, 0.032s wall-clock] +Normalizing task... [0.000s CPU, 0.002s wall-clock] Instantiating... -Generating Datalog program... [0.010s CPU, 0.003s wall-clock] +Generating Datalog program... [0.000s CPU, 0.001s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.000s CPU, 0.008s wall-clock] -Preparing model... [0.010s CPU, 0.008s wall-clock] -Generated 1300 rules. +Normalizing Datalog program: [0.010s CPU, 0.006s wall-clock] +Preparing model... [0.000s CPU, 0.003s wall-clock] +Generated 625 rules. Computing model... [0.000s CPU, 0.001s wall-clock] 421 relevant atoms 0 auxiliary atoms 421 final queue length -592 total queue pushes -Completing instantiation... [0.010s CPU, 0.003s wall-clock] -Instantiating: [0.030s CPU, 0.023s wall-clock] +628 total queue pushes +Completing instantiation... [0.010s CPU, 0.001s wall-clock] +Instantiating: [0.020s CPU, 0.013s wall-clock] Computing fact groups... Finding invariants... -123 initial candidates -Finding invariants: [9.610s CPU, 9.668s wall-clock] +108 initial candidates +Finding invariants: [3.950s CPU, 3.946s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 84 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [9.610s CPU, 9.668s wall-clock] +Computing fact groups: [3.950s CPU, 3.947s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,13 +44,13 @@ Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] Translating task: [0.000s CPU, 0.003s wall-clock] -56 effect conditions simplified +68 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 52 propositions removed -Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] +Detecting unreachable propositions: [0.010s CPU, 0.001s wall-clock] Reordering and filtering variables... 28 of 58 variables necessary. 0 of 0 mutex groups necessary. @@ -65,10 +65,10 @@ Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 25 Translator axioms: 0 -Translator task size: 382 -Translator peak memory: 224188 KB -Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [9.750s CPU, 9.812s wall-clock] +Translator task size: 376 +Translator peak memory: 194496 KB +Writing output... [0.000s CPU, 0.001s wall-clock] +Done! [4.020s CPU, 4.001s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,71 +76,71 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010007s, 12120 KB] reading input... -[t=0.010770s, 12120 KB] done reading input! -[t=0.015095s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015095s, 12384 KB] Generating landmark graph... -[t=0.015095s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015095s, 12384 KB] Initializing Exploration... -[t=0.015095s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015095s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015095s, 12384 KB] Discovered 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015095s, 12384 KB] 12 edges -[t=0.015095s, 12384 KB] approx. reasonable orders -[t=0.015095s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015095s, 12384 KB] Discovered 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015095s, 12384 KB] 12 edges -[t=0.015095s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015095s, 12384 KB] Landmark graph contains 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015095s, 12384 KB] Landmark graph contains 12 orderings. -[t=0.015095s, 12384 KB] Simplifying 119 unary operators... done! [99 unary operators] -[t=0.015095s, 12384 KB] time to simplify: 0.000000s -[t=0.015095s, 12384 KB] Initializing additive heuristic... -[t=0.015095s, 12384 KB] Initializing FF heuristic... -[t=0.015095s, 12384 KB] Building successor generator...done! -[t=0.015095s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015095s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015095s, 12384 KB] Variables: 28 -[t=0.015095s, 12384 KB] FactPairs: 56 -[t=0.015095s, 12384 KB] Bytes per state: 4 -[t=0.015095s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.017049s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.017049s, 12520 KB] New best heuristic value for ff: 4 -[t=0.017049s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.017049s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 5 -[t=0.017049s, 12520 KB] Initial heuristic value for ff: 4 -[t=0.017049s, 12520 KB] New best heuristic value for ff: 3 -[t=0.017049s, 12520 KB] g=1, 3 evaluated, 2 expanded -[t=0.017049s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017049s, 12520 KB] g=2, 4 evaluated, 3 expanded -[t=0.017049s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017049s, 12520 KB] New best heuristic value for ff: 2 -[t=0.017049s, 12520 KB] g=3, 5 evaluated, 4 expanded -[t=0.017049s, 12520 KB] New best heuristic value for ff: 1 -[t=0.017049s, 12520 KB] g=4, 6 evaluated, 5 expanded -[t=0.017049s, 12520 KB] Solution found! -[t=0.017049s, 12520 KB] Actual search time: 0.000000s +[t=0.011731s, 12120 KB] reading input... +[t=0.012656s, 12120 KB] done reading input! +[t=0.017880s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017880s, 12384 KB] Generating landmark graph... +[t=0.017880s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017880s, 12384 KB] Initializing Exploration... +[t=0.017880s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017880s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017880s, 12384 KB] Discovered 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017880s, 12384 KB] 12 edges +[t=0.017880s, 12384 KB] approx. reasonable orders +[t=0.017880s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017880s, 12384 KB] Discovered 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017880s, 12384 KB] 12 edges +[t=0.017880s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017880s, 12384 KB] Landmark graph contains 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017880s, 12384 KB] Landmark graph contains 12 orderings. +[t=0.017880s, 12384 KB] Simplifying 119 unary operators... done! [99 unary operators] +[t=0.017880s, 12384 KB] time to simplify: 0.000000s +[t=0.017880s, 12384 KB] Initializing additive heuristic... +[t=0.017880s, 12384 KB] Initializing FF heuristic... +[t=0.017880s, 12384 KB] Building successor generator...done! +[t=0.017880s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017880s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017880s, 12384 KB] Variables: 28 +[t=0.017880s, 12384 KB] FactPairs: 56 +[t=0.017880s, 12384 KB] Bytes per state: 4 +[t=0.017880s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017880s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.017880s, 12520 KB] New best heuristic value for ff: 4 +[t=0.017880s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.017880s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 5 +[t=0.017880s, 12520 KB] Initial heuristic value for ff: 4 +[t=0.017880s, 12520 KB] New best heuristic value for ff: 3 +[t=0.017880s, 12520 KB] g=1, 3 evaluated, 2 expanded +[t=0.017880s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.017880s, 12520 KB] g=2, 4 evaluated, 3 expanded +[t=0.017880s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017880s, 12520 KB] New best heuristic value for ff: 2 +[t=0.017880s, 12520 KB] g=3, 5 evaluated, 4 expanded +[t=0.017880s, 12520 KB] New best heuristic value for ff: 1 +[t=0.017880s, 12520 KB] g=4, 6 evaluated, 5 expanded +[t=0.017880s, 12520 KB] Solution found! +[t=0.017880s, 12520 KB] Actual search time: 0.002967s move_bob_l2_l1 (1) move_alice_l1_l2 (1) adopt-belief_alice_l2 (1) move_bob_l1_l2 (1) proselytize_alice_bob_l2 (1) -[t=0.017049s, 12520 KB] Plan length: 5 step(s). -[t=0.017049s, 12520 KB] Plan cost: 5 -[t=0.017049s, 12520 KB] Expanded 6 state(s). -[t=0.017049s, 12520 KB] Reopened 0 state(s). -[t=0.017049s, 12520 KB] Evaluated 7 state(s). -[t=0.017049s, 12520 KB] Evaluations: 14 -[t=0.017049s, 12520 KB] Generated 26 state(s). -[t=0.017049s, 12520 KB] Dead ends: 0 state(s). -[t=0.017049s, 12520 KB] Number of registered states: 7 -[t=0.017049s, 12520 KB] Int hash set load factor: 7/8 = 0.875000 -[t=0.017049s, 12520 KB] Int hash set resizes: 3 -[t=0.017049s, 12520 KB] Search time: 0.001955s -[t=0.017049s, 12520 KB] Total time: 0.017049s +[t=0.020847s, 12520 KB] Plan length: 5 step(s). +[t=0.020847s, 12520 KB] Plan cost: 5 +[t=0.020847s, 12520 KB] Expanded 6 state(s). +[t=0.020847s, 12520 KB] Reopened 0 state(s). +[t=0.020847s, 12520 KB] Evaluated 7 state(s). +[t=0.020847s, 12520 KB] Evaluations: 14 +[t=0.020847s, 12520 KB] Generated 26 state(s). +[t=0.020847s, 12520 KB] Dead ends: 0 state(s). +[t=0.020847s, 12520 KB] Number of registered states: 7 +[t=0.020847s, 12520 KB] Int hash set load factor: 7/8 = 0.875000 +[t=0.020847s, 12520 KB] Int hash set resizes: 3 +[t=0.020847s, 12520 KB] Search time: 0.002967s +[t=0.020847s, 12520 KB] Total time: 0.020847s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 10.00s +INFO Planner time: 4.31s diff --git a/bdi_extension/belief-desire/output_9.txt b/bdi_extension/belief-desire/output_9.txt index 51f6cdf..d05d4f6 100644 --- a/bdi_extension/belief-desire/output_9.txt +++ b/bdi_extension/belief-desire/output_9.txt @@ -7,51 +7,51 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-desire/pdkb-domain.pddl bdi_extension/belief-desire/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [11.080s CPU, 11.115s wall-clock] -Normalizing task... [0.080s CPU, 0.074s wall-clock] +Parsing: [0.470s CPU, 0.479s wall-clock] +Normalizing task... [0.010s CPU, 0.009s wall-clock] Instantiating... -Generating Datalog program... [0.080s CPU, 0.088s wall-clock] +Generating Datalog program... [0.010s CPU, 0.010s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.060s CPU, 0.059s wall-clock] -Preparing model... [0.250s CPU, 0.255s wall-clock] -Generated 12209 rules. -Computing model... [0.020s CPU, 0.017s wall-clock] +Normalizing Datalog program: [0.020s CPU, 0.014s wall-clock] +Preparing model... [0.060s CPU, 0.064s wall-clock] +Generated 2521 rules. +Computing model... [0.010s CPU, 0.008s wall-clock] 14654 relevant atoms 0 auxiliary atoms 14654 final queue length -15234 total queue pushes -Completing instantiation... [0.040s CPU, 0.042s wall-clock] -Instantiating: [0.460s CPU, 0.471s wall-clock] +15298 total queue pushes +Completing instantiation... [0.010s CPU, 0.013s wall-clock] +Instantiating: [0.110s CPU, 0.111s wall-clock] Computing fact groups... Finding invariants... -1048 initial candidates +1024 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.100s CPU, 10.159s wall-clock] -Checking invariant weight... [0.000s CPU, 0.003s wall-clock] +Finding invariants: [10.080s CPU, 10.057s wall-clock] +Checking invariant weight... [0.010s CPU, 0.003s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 667 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.001s wall-clock] -Computing fact groups: [10.100s CPU, 10.166s wall-clock] -Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] -Building dictionary for full mutex groups... [0.010s CPU, 0.000s wall-clock] +Computing fact groups: [10.090s CPU, 10.065s wall-clock] +Building STRIPS to SAS dictionary... [0.000s CPU, 0.001s wall-clock] +Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... Building mutex information: [0.000s CPU, 0.000s wall-clock] Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.010s CPU, 0.019s wall-clock] -208 effect conditions simplified +Processing axioms: [0.000s CPU, 0.000s wall-clock] +Translating task: [0.010s CPU, 0.010s wall-clock] +232 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 710 propositions removed -Detecting unreachable propositions: [0.010s CPU, 0.003s wall-clock] +Detecting unreachable propositions: [0.010s CPU, 0.004s wall-clock] Reordering and filtering variables... 46 of 312 variables necessary. 0 of 0 mutex groups necessary. @@ -66,10 +66,10 @@ Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 42 Translator axioms: 0 -Translator task size: 791 -Translator peak memory: 234408 KB +Translator task size: 781 +Translator peak memory: 133808 KB Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [21.750s CPU, 21.854s wall-clock] +Done! [10.700s CPU, 10.684s wall-clock] translate exit code: 0 INFO Running search (release). @@ -77,64 +77,64 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009869s, 12120 KB] reading input... -[t=0.010595s, 12120 KB] done reading input! -[t=0.015673s, 12516 KB] Initializing landmark sum heuristic... -[t=0.015673s, 12516 KB] Generating landmark graph... -[t=0.015673s, 12516 KB] Building a landmark graph with reasonable orders. -[t=0.015673s, 12516 KB] Initializing Exploration... -[t=0.015673s, 12516 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015673s, 12516 KB] Landmarks generation time: 0.000000s -[t=0.015673s, 12516 KB] Discovered 5 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015673s, 12516 KB] 3 edges -[t=0.015673s, 12516 KB] approx. reasonable orders -[t=0.015673s, 12516 KB] Landmarks generation time: 0.000000s -[t=0.015673s, 12516 KB] Discovered 5 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015673s, 12516 KB] 3 edges -[t=0.015673s, 12516 KB] Landmark graph generation time: 0.000000s -[t=0.015673s, 12516 KB] Landmark graph contains 5 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015673s, 12516 KB] Landmark graph contains 3 orderings. -[t=0.015673s, 12516 KB] Simplifying 267 unary operators... done! [191 unary operators] -[t=0.015673s, 12516 KB] time to simplify: 0.000000s -[t=0.015673s, 12516 KB] Initializing additive heuristic... -[t=0.015673s, 12516 KB] Initializing FF heuristic... -[t=0.015673s, 12516 KB] Building successor generator...done! -[t=0.015673s, 12516 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015673s, 12516 KB] time for successor generation creation: 0.000000s -[t=0.015673s, 12516 KB] Variables: 46 -[t=0.015673s, 12516 KB] FactPairs: 92 -[t=0.015673s, 12516 KB] Bytes per state: 8 -[t=0.015673s, 12516 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015673s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.015673s, 12516 KB] New best heuristic value for ff: 3 -[t=0.015673s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.015673s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 2 -[t=0.015673s, 12516 KB] Initial heuristic value for ff: 3 -[t=0.015673s, 12516 KB] New best heuristic value for ff: 2 -[t=0.015673s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.015673s, 12516 KB] New best heuristic value for ff: 1 -[t=0.015673s, 12516 KB] g=2, 3 evaluated, 2 expanded -[t=0.015673s, 12516 KB] Solution found! -[t=0.015673s, 12516 KB] Actual search time: 0.000000s +[t=0.011829s, 12120 KB] reading input... +[t=0.013262s, 12120 KB] done reading input! +[t=0.018073s, 12516 KB] Initializing landmark sum heuristic... +[t=0.018073s, 12516 KB] Generating landmark graph... +[t=0.018073s, 12516 KB] Building a landmark graph with reasonable orders. +[t=0.018073s, 12516 KB] Initializing Exploration... +[t=0.018073s, 12516 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018073s, 12516 KB] Landmarks generation time: 0.000000s +[t=0.018073s, 12516 KB] Discovered 5 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018073s, 12516 KB] 3 edges +[t=0.018073s, 12516 KB] approx. reasonable orders +[t=0.018073s, 12516 KB] Landmarks generation time: 0.000000s +[t=0.018073s, 12516 KB] Discovered 5 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018073s, 12516 KB] 3 edges +[t=0.018073s, 12516 KB] Landmark graph generation time: 0.000000s +[t=0.018073s, 12516 KB] Landmark graph contains 5 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018073s, 12516 KB] Landmark graph contains 3 orderings. +[t=0.018073s, 12516 KB] Simplifying 267 unary operators... done! [191 unary operators] +[t=0.018073s, 12516 KB] time to simplify: 0.000000s +[t=0.018073s, 12516 KB] Initializing additive heuristic... +[t=0.018073s, 12516 KB] Initializing FF heuristic... +[t=0.018073s, 12516 KB] Building successor generator...done! +[t=0.018073s, 12516 KB] peak memory difference for successor generator creation: 0 KB +[t=0.020454s, 12516 KB] time for successor generation creation: 0.000000s +[t=0.020454s, 12516 KB] Variables: 46 +[t=0.020454s, 12516 KB] FactPairs: 92 +[t=0.020454s, 12516 KB] Bytes per state: 8 +[t=0.020454s, 12516 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.020454s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.020454s, 12516 KB] New best heuristic value for ff: 3 +[t=0.020454s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.020454s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 2 +[t=0.020454s, 12516 KB] Initial heuristic value for ff: 3 +[t=0.020454s, 12516 KB] New best heuristic value for ff: 2 +[t=0.020454s, 12516 KB] g=1, 2 evaluated, 1 expanded +[t=0.020454s, 12516 KB] New best heuristic value for ff: 1 +[t=0.020454s, 12516 KB] g=2, 3 evaluated, 2 expanded +[t=0.020454s, 12516 KB] Solution found! +[t=0.020454s, 12516 KB] Actual search time: 0.000000s move_derek_l2_l1 (1) move_cindy_l2_l1 (1) adopt-belief_bob_l1 (1) -[t=0.015673s, 12516 KB] Plan length: 3 step(s). -[t=0.015673s, 12516 KB] Plan cost: 3 -[t=0.015673s, 12516 KB] Expanded 3 state(s). -[t=0.015673s, 12516 KB] Reopened 0 state(s). -[t=0.015673s, 12516 KB] Evaluated 4 state(s). -[t=0.015673s, 12516 KB] Evaluations: 8 -[t=0.015673s, 12516 KB] Generated 18 state(s). -[t=0.015673s, 12516 KB] Dead ends: 0 state(s). -[t=0.015673s, 12516 KB] Number of registered states: 4 -[t=0.015673s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 -[t=0.015673s, 12516 KB] Int hash set resizes: 2 -[t=0.015673s, 12516 KB] Search time: 0.000000s -[t=0.015673s, 12516 KB] Total time: 0.015673s +[t=0.020454s, 12516 KB] Plan length: 3 step(s). +[t=0.020454s, 12516 KB] Plan cost: 3 +[t=0.020454s, 12516 KB] Expanded 3 state(s). +[t=0.020454s, 12516 KB] Reopened 0 state(s). +[t=0.020454s, 12516 KB] Evaluated 4 state(s). +[t=0.020454s, 12516 KB] Evaluations: 8 +[t=0.020454s, 12516 KB] Generated 18 state(s). +[t=0.020454s, 12516 KB] Dead ends: 0 state(s). +[t=0.020454s, 12516 KB] Number of registered states: 4 +[t=0.020454s, 12516 KB] Int hash set load factor: 4/4 = 1.000000 +[t=0.020454s, 12516 KB] Int hash set resizes: 2 +[t=0.020454s, 12516 KB] Search time: 0.000000s +[t=0.020454s, 12516 KB] Total time: 0.020454s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 22.02s +INFO Planner time: 11.01s diff --git a/bdi_extension/belief-intention/domain.pdkbddl b/bdi_extension/belief-intention/domain.pdkbddl index ea45e6e..d3bfb58 100644 --- a/bdi_extension/belief-intention/domain.pdkbddl +++ b/bdi_extension/belief-intention/domain.pdkbddl @@ -24,14 +24,14 @@ (:action move :derive-condition never :parameters (?a - agent ?l1 ?l2 - loc) - :precondition (and (at ?a ?l1) (connected ?l1 ?l2) (!caught ?a)) - :effect (and (at ?a ?l2) (!at ?a ?l1) (when (hiding-at ?a ?l1) (!hiding-at ?a ?l1)) ) + :precondition (and (at ?a ?l1) (connected ?l1 ?l2) (not (caught ?a))) + :effect (and (at ?a ?l2) (not (at ?a ?l1)) (when (hiding-at ?a ?l1) (not (hiding-at ?a ?l1))) ) ) (:action grab-flag :derive-condition never :parameters (?ag - agent ?l - loc) - :precondition (and (capturer ?ag) (flag-at ?l) (at ?ag ?l) (!caught ?ag) [b, ?ag](flag-at ?l)) + :precondition (and (capturer ?ag) (flag-at ?l) (at ?ag ?l) (not (caught ?ag)) [b, ?ag](flag-at ?l)) :effect (and (!flag-at ?l) (holding-flag ?ag) @@ -41,7 +41,7 @@ (:action capture-win :derive-condition (at $agent$ ?l) :parameters (?ag - agent ?l - loc) - :precondition (and (capturer ?ag) (holding-flag ?ag) (at ?ag ?l) (!caught ?ag) (home-base ?l)) + :precondition (and (capturer ?ag) (holding-flag ?ag) (at ?ag ?l) (not (caught ?ag)) (home-base ?l)) :effect (and (capture-win) ) @@ -50,7 +50,7 @@ (:action find-hiding-spot :derive-condition never :parameters (?a - agent ?l - loc) - :precondition (and (scout ?a) (hiding-spot-at ?l) (!caught ?a) (at ?a ?l)) + :precondition (and (scout ?a) (hiding-spot-at ?l) (not (caught ?a)) (at ?a ?l)) :effect (and [b, ?a](hiding-spot-at ?l) ) @@ -59,7 +59,7 @@ (:action find-flag :derive-condition never :parameters (?a - agent ?l - loc) - :precondition (and (scout ?a) (flag-at ?l) (!caught ?a) (at ?a ?l)) + :precondition (and (scout ?a) (flag-at ?l) (not (caught ?a)) (at ?a ?l)) :effect (and [b, ?a](flag-at ?l) ) @@ -68,7 +68,7 @@ (:action share-hiding-spot-location :derive-condition never :parameters (?a1 ?a2 - agent ?l1 ?l2 - loc) - :precondition (and (scout ?a1) (capturer ?a2) [i, ?a1][b, ?a2](hiding-spot-at ?l1) (!caught ?a1) (!caught ?a2) (at ?a1 ?l2) (at ?a2 ?l2)) + :precondition (and (scout ?a1) (capturer ?a2) [i, ?a1][b, ?a2](hiding-spot-at ?l1) (not (caught ?a1)) (not (caught ?a2)) (at ?a1 ?l2) (at ?a2 ?l2)) :effect (and [b, ?a2](hiding-spot-at ?l1) ) @@ -77,7 +77,7 @@ (:action scout-find-flag :derive-condition never :parameters (?ag - agent ?l - loc) - :precondition (and (scout ?ag) (at ?ag ?l) (flag-at ?l) (!caught ?ag)) + :precondition (and (scout ?ag) (at ?ag ?l) (flag-at ?l) (not (caught ?ag))) :effect (and [b, ?ag](flag-at ?l) ) @@ -86,7 +86,7 @@ (:action share-flag-location :derive-condition never :parameters (?a1 ?a2 - agent ?l1 ?l2 - loc) - :precondition (and (scout ?a1) (capturer ?a2) [i, ?a1][b, ?a2](flag-at ?l1) (!caught ?a1) (!caught ?a2) (at ?a1 ?l2) (at ?a2 ?l2)) + :precondition (and (scout ?a1) (capturer ?a2) [i, ?a1][b, ?a2](flag-at ?l1) (not (caught ?a1)) (not (caught ?a2)) (at ?a1 ?l2) (at ?a2 ?l2)) :effect (and [b, ?a2](flag-at ?l1) ) @@ -95,7 +95,7 @@ (:action hide :derive-condition never :parameters (?a1 ?a2 - agent ?l1 ?l2 - loc) - :precondition (and (capturer ?a1) (defender ?a2) (!caught ?a1) (at ?a1 ?l1) (at ?a2 ?l2) (connected ?l1 ?l2) [b, ?a1](hiding-spot-at ?l1)) + :precondition (and (capturer ?a1) (defender ?a2) (not (caught ?a1)) (at ?a1 ?l1) (at ?a2 ?l2) (connected ?l1 ?l2) [b, ?a1](hiding-spot-at ?l1)) :effect (and (hiding-at ?a1 ?l1) ) diff --git a/bdi_extension/belief-intention/output_1.txt b/bdi_extension/belief-intention/output_1.txt index 7243258..345053e 100644 --- a/bdi_extension/belief-intention/output_1.txt +++ b/bdi_extension/belief-intention/output_1.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.070s CPU, 0.072s wall-clock] -Normalizing task... [0.000s CPU, 0.003s wall-clock] +Parsing: [0.050s CPU, 0.053s wall-clock] +Normalizing task... [0.000s CPU, 0.002s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.002s wall-clock] +Generating Datalog program... [0.010s CPU, 0.002s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.006s wall-clock] -Preparing model... [0.000s CPU, 0.005s wall-clock] -Generated 751 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.000s CPU, 0.008s wall-clock] +Preparing model... [0.010s CPU, 0.010s wall-clock] +Generated 787 rules. +Computing model... [0.010s CPU, 0.001s wall-clock] 971 relevant atoms 0 auxiliary atoms 971 final queue length 985 total queue pushes -Completing instantiation... [0.010s CPU, 0.001s wall-clock] -Instantiating: [0.020s CPU, 0.016s wall-clock] +Completing instantiation... [0.000s CPU, 0.001s wall-clock] +Instantiating: [0.030s CPU, 0.023s wall-clock] Computing fact groups... Finding invariants... -136 initial candidates -Finding invariants: [0.080s CPU, 0.088s wall-clock] +119 initial candidates +Finding invariants: [0.020s CPU, 0.023s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 57 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.080s CPU, 0.089s wall-clock] +Computing fact groups: [0.020s CPU, 0.024s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,19 +44,19 @@ Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] Translating task: [0.000s CPU, 0.001s wall-clock] -14 effect conditions simplified +10 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -92 propositions removed +96 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.000s wall-clock] Reordering and filtering variables... -8 of 11 variables necessary. +8 of 9 variables necessary. 0 of 0 mutex groups necessary. 10 of 10 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.010s CPU, 0.000s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] Translator variables: 8 Translator derived variables: 0 Translator facts: 16 @@ -66,9 +66,9 @@ Translator total mutex groups size: 0 Translator operators: 10 Translator axioms: 0 Translator task size: 86 -Translator peak memory: 37800 KB +Translator peak memory: 35752 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.180s CPU, 0.183s wall-clock] +Done! [0.100s CPU, 0.104s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,69 +76,69 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009572s, 12120 KB] reading input... -[t=0.010738s, 12120 KB] done reading input! -[t=0.014504s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014504s, 12384 KB] Generating landmark graph... -[t=0.014504s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014504s, 12384 KB] Initializing Exploration... -[t=0.014504s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014504s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014504s, 12384 KB] Discovered 7 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014504s, 12384 KB] 7 edges -[t=0.014504s, 12384 KB] approx. reasonable orders -[t=0.014504s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014504s, 12384 KB] Discovered 7 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014504s, 12384 KB] 7 edges -[t=0.014504s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014504s, 12384 KB] Landmark graph contains 7 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014504s, 12384 KB] Landmark graph contains 7 orderings. -[t=0.014504s, 12384 KB] Simplifying 26 unary operators... done! [19 unary operators] -[t=0.014504s, 12384 KB] time to simplify: 0.000000s -[t=0.014504s, 12384 KB] Initializing additive heuristic... -[t=0.014504s, 12384 KB] Initializing FF heuristic... -[t=0.014504s, 12384 KB] Building successor generator...done! -[t=0.014504s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014504s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014504s, 12384 KB] Variables: 8 -[t=0.014504s, 12384 KB] FactPairs: 16 -[t=0.014504s, 12384 KB] Bytes per state: 4 -[t=0.014504s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.014504s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.014504s, 12520 KB] New best heuristic value for ff: 3 -[t=0.014504s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.014504s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 -[t=0.014504s, 12520 KB] Initial heuristic value for ff: 3 -[t=0.014504s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.014504s, 12520 KB] g=1, 4 evaluated, 1 expanded -[t=0.014504s, 12520 KB] New best heuristic value for ff: 2 -[t=0.014504s, 12520 KB] g=2, 5 evaluated, 2 expanded -[t=0.014504s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.014504s, 12520 KB] g=2, 7 evaluated, 3 expanded -[t=0.014504s, 12520 KB] New best heuristic value for ff: 1 -[t=0.014504s, 12520 KB] g=3, 8 evaluated, 4 expanded -[t=0.014504s, 12520 KB] Solution found! -[t=0.014504s, 12520 KB] Actual search time: 0.000000s +[t=0.011853s, 12120 KB] reading input... +[t=0.012723s, 12120 KB] done reading input! +[t=0.018493s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018493s, 12384 KB] Generating landmark graph... +[t=0.018493s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018493s, 12384 KB] Initializing Exploration... +[t=0.018493s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018493s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018493s, 12384 KB] Discovered 7 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018493s, 12384 KB] 7 edges +[t=0.018493s, 12384 KB] approx. reasonable orders +[t=0.018493s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018493s, 12384 KB] Discovered 7 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018493s, 12384 KB] 7 edges +[t=0.018493s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018493s, 12384 KB] Landmark graph contains 7 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018493s, 12384 KB] Landmark graph contains 7 orderings. +[t=0.018493s, 12384 KB] Simplifying 26 unary operators... done! [19 unary operators] +[t=0.018493s, 12384 KB] time to simplify: 0.000000s +[t=0.018493s, 12384 KB] Initializing additive heuristic... +[t=0.018493s, 12384 KB] Initializing FF heuristic... +[t=0.018493s, 12384 KB] Building successor generator...done! +[t=0.018493s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018493s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018493s, 12384 KB] Variables: 8 +[t=0.018493s, 12384 KB] FactPairs: 16 +[t=0.018493s, 12384 KB] Bytes per state: 4 +[t=0.018493s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018493s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018493s, 12520 KB] New best heuristic value for ff: 3 +[t=0.018493s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.018493s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 +[t=0.018493s, 12520 KB] Initial heuristic value for ff: 3 +[t=0.018493s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.018493s, 12520 KB] g=1, 4 evaluated, 1 expanded +[t=0.018493s, 12520 KB] New best heuristic value for ff: 2 +[t=0.018493s, 12520 KB] g=2, 5 evaluated, 2 expanded +[t=0.018493s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018493s, 12520 KB] g=2, 7 evaluated, 3 expanded +[t=0.018493s, 12520 KB] New best heuristic value for ff: 1 +[t=0.018493s, 12520 KB] g=3, 8 evaluated, 4 expanded +[t=0.018493s, 12520 KB] Solution found! +[t=0.018493s, 12520 KB] Actual search time: 0.000000s move_alice_l2_l3 (1) move_bob_l1_l2 (1) find-flag_alice_l3 (1) move_bob_l2_l3 (1) -[t=0.014504s, 12520 KB] Plan length: 4 step(s). -[t=0.014504s, 12520 KB] Plan cost: 4 -[t=0.014504s, 12520 KB] Expanded 5 state(s). -[t=0.014504s, 12520 KB] Reopened 0 state(s). -[t=0.014504s, 12520 KB] Evaluated 9 state(s). -[t=0.014504s, 12520 KB] Evaluations: 15 -[t=0.014504s, 12520 KB] Generated 21 state(s). -[t=0.014504s, 12520 KB] Dead ends: 3 state(s). -[t=0.014504s, 12520 KB] Number of registered states: 9 -[t=0.014504s, 12520 KB] Int hash set load factor: 9/16 = 0.562500 -[t=0.014504s, 12520 KB] Int hash set resizes: 4 -[t=0.014504s, 12520 KB] Search time: 0.000000s -[t=0.014504s, 12520 KB] Total time: 0.014504s +[t=0.018493s, 12520 KB] Plan length: 4 step(s). +[t=0.018493s, 12520 KB] Plan cost: 4 +[t=0.018493s, 12520 KB] Expanded 5 state(s). +[t=0.018493s, 12520 KB] Reopened 0 state(s). +[t=0.018493s, 12520 KB] Evaluated 9 state(s). +[t=0.018493s, 12520 KB] Evaluations: 15 +[t=0.018493s, 12520 KB] Generated 21 state(s). +[t=0.018493s, 12520 KB] Dead ends: 3 state(s). +[t=0.018493s, 12520 KB] Number of registered states: 9 +[t=0.018493s, 12520 KB] Int hash set load factor: 9/16 = 0.562500 +[t=0.018493s, 12520 KB] Int hash set resizes: 4 +[t=0.018493s, 12520 KB] Search time: 0.000000s +[t=0.018493s, 12520 KB] Total time: 0.018493s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.46s +INFO Planner time: 0.40s diff --git a/bdi_extension/belief-intention/output_10.txt b/bdi_extension/belief-intention/output_10.txt index bc74428..85fa867 100644 --- a/bdi_extension/belief-intention/output_10.txt +++ b/bdi_extension/belief-intention/output_10.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [5.210s CPU, 5.204s wall-clock] -Normalizing task... [0.080s CPU, 0.078s wall-clock] +Parsing: [3.470s CPU, 3.475s wall-clock] +Normalizing task... [0.030s CPU, 0.031s wall-clock] Instantiating... -Generating Datalog program... [0.180s CPU, 0.186s wall-clock] +Generating Datalog program... [0.070s CPU, 0.072s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.030s CPU, 0.032s wall-clock] -Preparing model... [0.710s CPU, 0.717s wall-clock] -Generated 6076 rules. -Computing model... [0.110s CPU, 0.103s wall-clock] +Normalizing Datalog program: [0.030s CPU, 0.034s wall-clock] +Preparing model... [0.780s CPU, 0.781s wall-clock] +Generated 6301 rules. +Computing model... [0.090s CPU, 0.090s wall-clock] 167679 relevant atoms 0 auxiliary atoms 167679 final queue length -167826 total queue pushes -Completing instantiation... [0.110s CPU, 0.112s wall-clock] -Instantiating: [1.170s CPU, 1.180s wall-clock] +167830 total queue pushes +Completing instantiation... [0.120s CPU, 0.123s wall-clock] +Instantiating: [1.130s CPU, 1.134s wall-clock] Computing fact groups... Finding invariants... -508 initial candidates -Finding invariants: [3.310s CPU, 3.328s wall-clock] +467 initial candidates +Finding invariants: [1.280s CPU, 1.277s wall-clock] Checking invariant weight... [0.020s CPU, 0.020s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 243 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [3.340s CPU, 3.350s wall-clock] +Computing fact groups: [1.300s CPU, 1.299s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,16 +44,16 @@ Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] Translating task: [0.020s CPU, 0.023s wall-clock] -114 effect conditions simplified +45 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -349 propositions removed +401 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -32 of 70 variables necessary. -4 of 9 mutex groups necessary. +32 of 44 variables necessary. +2 of 3 mutex groups necessary. 43 of 43 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] @@ -61,14 +61,14 @@ Translator variables: 32 Translator derived variables: 0 Translator facts: 64 Translator goal facts: 3 -Translator mutex groups: 4 -Translator total mutex groups size: 8 +Translator mutex groups: 2 +Translator total mutex groups size: 4 Translator operators: 43 Translator axioms: 0 -Translator task size: 514 -Translator peak memory: 289884 KB +Translator task size: 510 +Translator peak memory: 237660 KB Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [9.820s CPU, 9.838s wall-clock] +Done! [5.960s CPU, 5.966s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,69 +76,69 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010319s, 12120 KB] reading input... -[t=0.011149s, 12120 KB] done reading input! -[t=0.015547s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015547s, 12384 KB] Generating landmark graph... -[t=0.015547s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015547s, 12384 KB] Initializing Exploration... -[t=0.015547s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015547s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015547s, 12384 KB] Discovered 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015547s, 12384 KB] 14 edges -[t=0.015547s, 12384 KB] approx. reasonable orders -[t=0.015547s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015547s, 12384 KB] Discovered 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015547s, 12384 KB] 14 edges -[t=0.015547s, 12384 KB] Landmark graph generation time: 0.001547s -[t=0.017094s, 12384 KB] Landmark graph contains 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.017094s, 12384 KB] Landmark graph contains 14 orderings. -[t=0.017094s, 12384 KB] Simplifying 118 unary operators... done! [91 unary operators] -[t=0.017094s, 12384 KB] time to simplify: 0.000000s -[t=0.017094s, 12384 KB] Initializing additive heuristic... -[t=0.017094s, 12384 KB] Initializing FF heuristic... -[t=0.017094s, 12384 KB] Building successor generator...done! -[t=0.017094s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.017094s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.017094s, 12384 KB] Variables: 32 -[t=0.017094s, 12384 KB] FactPairs: 64 -[t=0.017094s, 12384 KB] Bytes per state: 4 -[t=0.017094s, 12520 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.017094s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.017094s, 12520 KB] New best heuristic value for ff: 11 -[t=0.017094s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.017094s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 5 -[t=0.017094s, 12520 KB] Initial heuristic value for ff: 11 -[t=0.017094s, 12520 KB] New best heuristic value for ff: 10 -[t=0.017094s, 12520 KB] g=1, 5 evaluated, 1 expanded -[t=0.017094s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017094s, 12520 KB] g=2, 8 evaluated, 3 expanded -[t=0.017094s, 12520 KB] New best heuristic value for ff: 9 -[t=0.017094s, 12520 KB] g=2, 10 evaluated, 4 expanded -[t=0.017094s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017094s, 12520 KB] g=3, 13 evaluated, 6 expanded -[t=0.017094s, 12520 KB] New best heuristic value for ff: 8 -[t=0.017094s, 12520 KB] g=4, 17 evaluated, 9 expanded -[t=0.017094s, 12520 KB] New best heuristic value for ff: 7 -[t=0.017094s, 12520 KB] g=5, 20 evaluated, 11 expanded -[t=0.017094s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017094s, 12520 KB] g=4, 21 evaluated, 12 expanded -[t=0.017094s, 12520 KB] New best heuristic value for ff: 6 -[t=0.017094s, 12520 KB] g=6, 24 evaluated, 14 expanded -[t=0.017094s, 12520 KB] New best heuristic value for ff: 5 -[t=0.017094s, 12520 KB] g=7, 28 evaluated, 16 expanded -[t=0.017094s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017094s, 12520 KB] g=8, 32 evaluated, 19 expanded -[t=0.017094s, 12520 KB] New best heuristic value for ff: 4 -[t=0.017094s, 12520 KB] g=9, 33 evaluated, 20 expanded -[t=0.017094s, 12520 KB] New best heuristic value for ff: 3 -[t=0.017094s, 12520 KB] g=11, 38 evaluated, 23 expanded -[t=0.017094s, 12520 KB] New best heuristic value for ff: 2 -[t=0.017094s, 12520 KB] g=12, 39 evaluated, 24 expanded -[t=0.021075s, 12520 KB] New best heuristic value for ff: 1 -[t=0.021075s, 12520 KB] g=15, 1451 evaluated, 737 expanded -[t=0.021075s, 12520 KB] Solution found! -[t=0.021075s, 12520 KB] Actual search time: 0.003981s +[t=0.012595s, 12120 KB] reading input... +[t=0.013488s, 12120 KB] done reading input! +[t=0.018890s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018890s, 12384 KB] Generating landmark graph... +[t=0.018890s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018890s, 12384 KB] Initializing Exploration... +[t=0.018890s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018890s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018890s, 12384 KB] Discovered 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018890s, 12384 KB] 14 edges +[t=0.018890s, 12384 KB] approx. reasonable orders +[t=0.018890s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018890s, 12384 KB] Discovered 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018890s, 12384 KB] 14 edges +[t=0.018890s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018890s, 12384 KB] Landmark graph contains 13 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018890s, 12384 KB] Landmark graph contains 14 orderings. +[t=0.018890s, 12384 KB] Simplifying 118 unary operators... done! [91 unary operators] +[t=0.018890s, 12384 KB] time to simplify: 0.000000s +[t=0.018890s, 12384 KB] Initializing additive heuristic... +[t=0.018890s, 12384 KB] Initializing FF heuristic... +[t=0.018890s, 12384 KB] Building successor generator...done! +[t=0.018890s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018890s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018890s, 12384 KB] Variables: 32 +[t=0.018890s, 12384 KB] FactPairs: 64 +[t=0.018890s, 12384 KB] Bytes per state: 4 +[t=0.018890s, 12520 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018890s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.018890s, 12520 KB] New best heuristic value for ff: 11 +[t=0.018890s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.018890s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 5 +[t=0.018890s, 12520 KB] Initial heuristic value for ff: 11 +[t=0.018890s, 12520 KB] New best heuristic value for ff: 10 +[t=0.018890s, 12520 KB] g=1, 5 evaluated, 1 expanded +[t=0.018890s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.018890s, 12520 KB] g=2, 8 evaluated, 3 expanded +[t=0.018890s, 12520 KB] New best heuristic value for ff: 9 +[t=0.018890s, 12520 KB] g=2, 10 evaluated, 4 expanded +[t=0.018890s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018890s, 12520 KB] g=3, 13 evaluated, 6 expanded +[t=0.018890s, 12520 KB] New best heuristic value for ff: 8 +[t=0.018890s, 12520 KB] g=4, 17 evaluated, 9 expanded +[t=0.018890s, 12520 KB] New best heuristic value for ff: 7 +[t=0.018890s, 12520 KB] g=5, 20 evaluated, 11 expanded +[t=0.018890s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.018890s, 12520 KB] g=4, 21 evaluated, 12 expanded +[t=0.018890s, 12520 KB] New best heuristic value for ff: 6 +[t=0.018890s, 12520 KB] g=6, 24 evaluated, 14 expanded +[t=0.018890s, 12520 KB] New best heuristic value for ff: 5 +[t=0.018890s, 12520 KB] g=7, 28 evaluated, 16 expanded +[t=0.018890s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.022249s, 12520 KB] g=8, 32 evaluated, 19 expanded +[t=0.022249s, 12520 KB] New best heuristic value for ff: 4 +[t=0.022249s, 12520 KB] g=9, 33 evaluated, 20 expanded +[t=0.022249s, 12520 KB] New best heuristic value for ff: 3 +[t=0.022249s, 12520 KB] g=11, 38 evaluated, 23 expanded +[t=0.022249s, 12520 KB] New best heuristic value for ff: 2 +[t=0.022249s, 12520 KB] g=12, 39 evaluated, 24 expanded +[t=0.026247s, 12520 KB] New best heuristic value for ff: 1 +[t=0.026247s, 12520 KB] g=15, 1451 evaluated, 737 expanded +[t=0.026247s, 12520 KB] Solution found! +[t=0.026247s, 12520 KB] Actual search time: 0.007357s move_evelyn_l3_l2 (1) move_bob_l2_l3 (1) find-hiding-spot_bob_l3 (1) @@ -155,22 +155,22 @@ move_cindy_l2_l3 (1) move_alice_l3_l2 (1) move_alice_l2_l1 (1) capture-win_alice_l1 (1) -[t=0.021075s, 12520 KB] Plan length: 16 step(s). -[t=0.021075s, 12520 KB] Plan cost: 16 -[t=0.021075s, 12520 KB] Expanded 738 state(s). -[t=0.021075s, 12520 KB] Reopened 0 state(s). -[t=0.021075s, 12520 KB] Evaluated 1452 state(s). -[t=0.021075s, 12520 KB] Evaluations: 2191 -[t=0.021075s, 12520 KB] Generated 5558 state(s). -[t=0.021075s, 12520 KB] Dead ends: 713 state(s). -[t=0.021075s, 12520 KB] Number of registered states: 1452 -[t=0.021075s, 12520 KB] Int hash set load factor: 1452/2048 = 0.708984 -[t=0.021075s, 12520 KB] Int hash set resizes: 11 -[t=0.021075s, 12520 KB] Search time: 0.003981s -[t=0.021075s, 12520 KB] Total time: 0.021075s +[t=0.026247s, 12520 KB] Plan length: 16 step(s). +[t=0.026247s, 12520 KB] Plan cost: 16 +[t=0.026247s, 12520 KB] Expanded 738 state(s). +[t=0.026247s, 12520 KB] Reopened 0 state(s). +[t=0.026247s, 12520 KB] Evaluated 1452 state(s). +[t=0.026247s, 12520 KB] Evaluations: 2191 +[t=0.026247s, 12520 KB] Generated 5558 state(s). +[t=0.026247s, 12520 KB] Dead ends: 713 state(s). +[t=0.026247s, 12520 KB] Number of registered states: 1452 +[t=0.026247s, 12520 KB] Int hash set load factor: 1452/2048 = 0.708984 +[t=0.026247s, 12520 KB] Int hash set resizes: 11 +[t=0.026247s, 12520 KB] Search time: 0.007357s +[t=0.026247s, 12520 KB] Total time: 0.026247s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 10.13s +INFO Planner time: 6.32s diff --git a/bdi_extension/belief-intention/output_2.txt b/bdi_extension/belief-intention/output_2.txt index b7cde9b..058c682 100644 --- a/bdi_extension/belief-intention/output_2.txt +++ b/bdi_extension/belief-intention/output_2.txt @@ -7,33 +7,33 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.190s CPU, 0.195s wall-clock] -Normalizing task... [0.010s CPU, 0.009s wall-clock] +Parsing: [0.110s CPU, 0.122s wall-clock] +Normalizing task... [0.010s CPU, 0.006s wall-clock] Instantiating... Generating Datalog program... [0.000s CPU, 0.004s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.020s CPU, 0.012s wall-clock] -Preparing model... [0.010s CPU, 0.013s wall-clock] -Generated 1810 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.020s CPU, 0.017s wall-clock] +Preparing model... [0.010s CPU, 0.014s wall-clock] +Generated 1891 rules. +Computing model... [0.000s CPU, 0.002s wall-clock] 2118 relevant atoms 0 auxiliary atoms 2118 final queue length -2161 total queue pushes -Completing instantiation... [0.000s CPU, 0.003s wall-clock] -Instantiating: [0.030s CPU, 0.034s wall-clock] +2163 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.040s CPU, 0.041s wall-clock] Computing fact groups... Finding invariants... -236 initial candidates -Finding invariants: [0.320s CPU, 0.320s wall-clock] -Checking invariant weight... [0.000s CPU, 0.001s wall-clock] +211 initial candidates +Finding invariants: [0.100s CPU, 0.105s wall-clock] +Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 110 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.320s CPU, 0.321s wall-clock] +Computing fact groups: [0.100s CPU, 0.107s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,17 +43,17 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.002s wall-clock] -51 effect conditions simplified +Translating task: [0.000s CPU, 0.001s wall-clock] +27 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -149 propositions removed +169 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -19 of 37 variables necessary. -2 of 4 mutex groups necessary. +19 of 27 variables necessary. +1 of 2 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] @@ -61,14 +61,14 @@ Translator variables: 19 Translator derived variables: 0 Translator facts: 38 Translator goal facts: 1 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 1 +Translator total mutex groups size: 2 Translator operators: 25 Translator axioms: 0 -Translator task size: 252 -Translator peak memory: 48556 KB -Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.560s CPU, 0.563s wall-clock] +Translator task size: 250 +Translator peak memory: 39848 KB +Writing output... [0.010s CPU, 0.000s wall-clock] +Done! [0.270s CPU, 0.279s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,60 +76,60 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010596s, 12120 KB] reading input... -[t=0.010787s, 12120 KB] done reading input! -[t=0.014797s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014797s, 12384 KB] Generating landmark graph... -[t=0.014797s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014797s, 12384 KB] Initializing Exploration... -[t=0.014797s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014797s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014797s, 12384 KB] Discovered 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014797s, 12384 KB] 33 edges -[t=0.014797s, 12384 KB] approx. reasonable orders -[t=0.014797s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014797s, 12384 KB] Discovered 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014797s, 12384 KB] 33 edges -[t=0.014797s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014797s, 12384 KB] Landmark graph contains 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014797s, 12384 KB] Landmark graph contains 33 orderings. -[t=0.014797s, 12384 KB] Simplifying 56 unary operators... done! [45 unary operators] -[t=0.014797s, 12384 KB] time to simplify: 0.000000s -[t=0.014797s, 12384 KB] Initializing additive heuristic... -[t=0.014797s, 12384 KB] Initializing FF heuristic... -[t=0.014797s, 12384 KB] Building successor generator...done! -[t=0.014797s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014797s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014797s, 12384 KB] Variables: 19 -[t=0.014797s, 12384 KB] FactPairs: 38 -[t=0.014797s, 12384 KB] Bytes per state: 4 -[t=0.014797s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.014797s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.014797s, 12520 KB] New best heuristic value for ff: 7 -[t=0.014797s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.014797s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 7 -[t=0.014797s, 12520 KB] Initial heuristic value for ff: 7 -[t=0.014797s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.014797s, 12520 KB] g=1, 5 evaluated, 2 expanded -[t=0.014797s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.014797s, 12520 KB] New best heuristic value for ff: 6 -[t=0.014797s, 12520 KB] g=2, 6 evaluated, 3 expanded -[t=0.014797s, 12520 KB] New best heuristic value for ff: 5 -[t=0.014797s, 12520 KB] g=3, 7 evaluated, 4 expanded -[t=0.017637s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017637s, 12520 KB] New best heuristic value for ff: 4 -[t=0.017637s, 12520 KB] g=4, 8 evaluated, 5 expanded -[t=0.017637s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017637s, 12520 KB] New best heuristic value for ff: 3 -[t=0.017637s, 12520 KB] g=6, 11 evaluated, 7 expanded -[t=0.017637s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017637s, 12520 KB] New best heuristic value for ff: 2 -[t=0.017637s, 12520 KB] g=7, 12 evaluated, 8 expanded -[t=0.017637s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017637s, 12520 KB] New best heuristic value for ff: 1 -[t=0.017637s, 12520 KB] g=12, 54 evaluated, 30 expanded -[t=0.017637s, 12520 KB] Solution found! -[t=0.017637s, 12520 KB] Actual search time: 0.002839s +[t=0.010941s, 12120 KB] reading input... +[t=0.012667s, 12120 KB] done reading input! +[t=0.016886s, 12384 KB] Initializing landmark sum heuristic... +[t=0.016886s, 12384 KB] Generating landmark graph... +[t=0.016886s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.016886s, 12384 KB] Initializing Exploration... +[t=0.016886s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.016886s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.016886s, 12384 KB] Discovered 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016886s, 12384 KB] 33 edges +[t=0.016886s, 12384 KB] approx. reasonable orders +[t=0.016886s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.016886s, 12384 KB] Discovered 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016886s, 12384 KB] 33 edges +[t=0.016886s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.016886s, 12384 KB] Landmark graph contains 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016886s, 12384 KB] Landmark graph contains 33 orderings. +[t=0.016886s, 12384 KB] Simplifying 56 unary operators... done! [45 unary operators] +[t=0.016886s, 12384 KB] time to simplify: 0.000000s +[t=0.016886s, 12384 KB] Initializing additive heuristic... +[t=0.016886s, 12384 KB] Initializing FF heuristic... +[t=0.016886s, 12384 KB] Building successor generator...done! +[t=0.016886s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.016886s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.016886s, 12384 KB] Variables: 19 +[t=0.016886s, 12384 KB] FactPairs: 38 +[t=0.016886s, 12384 KB] Bytes per state: 4 +[t=0.016886s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.016886s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 7 +[t=0.016886s, 12520 KB] New best heuristic value for ff: 7 +[t=0.016886s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.016886s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 7 +[t=0.016886s, 12520 KB] Initial heuristic value for ff: 7 +[t=0.016886s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.016886s, 12520 KB] g=1, 5 evaluated, 2 expanded +[t=0.016886s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.016886s, 12520 KB] New best heuristic value for ff: 6 +[t=0.016886s, 12520 KB] g=2, 6 evaluated, 3 expanded +[t=0.016886s, 12520 KB] New best heuristic value for ff: 5 +[t=0.016886s, 12520 KB] g=3, 7 evaluated, 4 expanded +[t=0.016886s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.016886s, 12520 KB] New best heuristic value for ff: 4 +[t=0.016886s, 12520 KB] g=4, 8 evaluated, 5 expanded +[t=0.016886s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.016886s, 12520 KB] New best heuristic value for ff: 3 +[t=0.016886s, 12520 KB] g=6, 11 evaluated, 7 expanded +[t=0.016886s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.016886s, 12520 KB] New best heuristic value for ff: 2 +[t=0.016886s, 12520 KB] g=7, 12 evaluated, 8 expanded +[t=0.016886s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.016886s, 12520 KB] New best heuristic value for ff: 1 +[t=0.016886s, 12520 KB] g=12, 54 evaluated, 30 expanded +[t=0.016886s, 12520 KB] Solution found! +[t=0.016886s, 12520 KB] Actual search time: 0.000000s move_bob_l2_l3 (1) find-flag_bob_l3 (1) move_bob_l3_l2 (1) @@ -143,22 +143,22 @@ hide_alice_cindy_l2_l1 (1) move_cindy_l1_l2 (1) move_alice_l2_l1 (1) capture-win_alice_l1 (1) -[t=0.017637s, 12520 KB] Plan length: 13 step(s). -[t=0.017637s, 12520 KB] Plan cost: 13 -[t=0.017637s, 12520 KB] Expanded 31 state(s). -[t=0.017637s, 12520 KB] Reopened 0 state(s). -[t=0.017637s, 12520 KB] Evaluated 55 state(s). -[t=0.017637s, 12520 KB] Evaluations: 87 -[t=0.017637s, 12520 KB] Generated 164 state(s). -[t=0.017637s, 12520 KB] Dead ends: 23 state(s). -[t=0.017637s, 12520 KB] Number of registered states: 55 -[t=0.017637s, 12520 KB] Int hash set load factor: 55/64 = 0.859375 -[t=0.017637s, 12520 KB] Int hash set resizes: 6 -[t=0.017637s, 12520 KB] Search time: 0.002839s -[t=0.017637s, 12520 KB] Total time: 0.017637s +[t=0.016886s, 12520 KB] Plan length: 13 step(s). +[t=0.016886s, 12520 KB] Plan cost: 13 +[t=0.016886s, 12520 KB] Expanded 31 state(s). +[t=0.016886s, 12520 KB] Reopened 0 state(s). +[t=0.016886s, 12520 KB] Evaluated 55 state(s). +[t=0.016886s, 12520 KB] Evaluations: 87 +[t=0.016886s, 12520 KB] Generated 164 state(s). +[t=0.016886s, 12520 KB] Dead ends: 23 state(s). +[t=0.016886s, 12520 KB] Number of registered states: 55 +[t=0.016886s, 12520 KB] Int hash set load factor: 55/64 = 0.859375 +[t=0.016886s, 12520 KB] Int hash set resizes: 6 +[t=0.016886s, 12520 KB] Search time: 0.000000s +[t=0.016886s, 12520 KB] Total time: 0.016886s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.82s +INFO Planner time: 0.59s diff --git a/bdi_extension/belief-intention/output_3.txt b/bdi_extension/belief-intention/output_3.txt index 2c77f12..e7b56d1 100644 --- a/bdi_extension/belief-intention/output_3.txt +++ b/bdi_extension/belief-intention/output_3.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.200s CPU, 0.197s wall-clock] -Normalizing task... [0.000s CPU, 0.009s wall-clock] +Parsing: [0.130s CPU, 0.127s wall-clock] +Normalizing task... [0.010s CPU, 0.008s wall-clock] Instantiating... -Generating Datalog program... [0.010s CPU, 0.004s wall-clock] +Generating Datalog program... [0.000s CPU, 0.005s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.000s CPU, 0.010s wall-clock] -Preparing model... [0.020s CPU, 0.013s wall-clock] -Generated 1810 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.020s CPU, 0.021s wall-clock] +Preparing model... [0.020s CPU, 0.015s wall-clock] +Generated 1891 rules. +Computing model... [0.000s CPU, 0.002s wall-clock] 2118 relevant atoms 0 auxiliary atoms 2118 final queue length -2161 total queue pushes -Completing instantiation... [0.000s CPU, 0.003s wall-clock] -Instantiating: [0.030s CPU, 0.033s wall-clock] +2163 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.040s CPU, 0.046s wall-clock] Computing fact groups... Finding invariants... -236 initial candidates -Finding invariants: [0.350s CPU, 0.344s wall-clock] +211 initial candidates +Finding invariants: [0.100s CPU, 0.104s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 110 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.360s CPU, 0.345s wall-clock] +Computing fact groups: [0.100s CPU, 0.106s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -42,33 +42,33 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.000s CPU, 0.002s wall-clock] -51 effect conditions simplified +Processing axioms: [0.010s CPU, 0.000s wall-clock] +Translating task: [0.010s CPU, 0.001s wall-clock] +27 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -149 propositions removed +169 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -19 of 37 variables necessary. -2 of 5 mutex groups necessary. +19 of 27 variables necessary. +1 of 2 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] Translator variables: 19 Translator derived variables: 0 Translator facts: 38 Translator goal facts: 1 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 1 +Translator total mutex groups size: 2 Translator operators: 25 Translator axioms: 0 -Translator task size: 252 -Translator peak memory: 48556 KB -Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [0.590s CPU, 0.588s wall-clock] +Translator task size: 250 +Translator peak memory: 40872 KB +Writing output... [0.000s CPU, 0.000s wall-clock] +Done! [0.290s CPU, 0.290s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,66 +76,66 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009980s, 12120 KB] reading input... -[t=0.010744s, 12120 KB] done reading input! -[t=0.015064s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015064s, 12384 KB] Generating landmark graph... -[t=0.015064s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015064s, 12384 KB] Initializing Exploration... -[t=0.015064s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015064s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015064s, 12384 KB] Discovered 10 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015064s, 12384 KB] 12 edges -[t=0.015064s, 12384 KB] approx. reasonable orders -[t=0.015064s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015064s, 12384 KB] Discovered 10 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015064s, 12384 KB] 13 edges -[t=0.015064s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015064s, 12384 KB] Landmark graph contains 10 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015064s, 12384 KB] Landmark graph contains 13 orderings. -[t=0.015064s, 12384 KB] Simplifying 56 unary operators... done! [45 unary operators] -[t=0.015064s, 12384 KB] time to simplify: 0.000000s -[t=0.015064s, 12384 KB] Initializing additive heuristic... -[t=0.015064s, 12384 KB] Initializing FF heuristic... -[t=0.015064s, 12384 KB] Building successor generator...done! -[t=0.015064s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015064s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015064s, 12384 KB] Variables: 19 -[t=0.015064s, 12384 KB] FactPairs: 38 -[t=0.015064s, 12384 KB] Bytes per state: 4 -[t=0.015064s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015064s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017020s, 12520 KB] New best heuristic value for ff: 3 -[t=0.017020s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.017020s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 -[t=0.017020s, 12520 KB] Initial heuristic value for ff: 3 -[t=0.017020s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017020s, 12520 KB] New best heuristic value for ff: 2 -[t=0.017020s, 12520 KB] g=1, 3 evaluated, 1 expanded -[t=0.017020s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017020s, 12520 KB] New best heuristic value for ff: 1 -[t=0.017020s, 12520 KB] g=2, 4 evaluated, 2 expanded -[t=0.017020s, 12520 KB] Solution found! -[t=0.017020s, 12520 KB] Actual search time: 0.001956s +[t=0.012031s, 12120 KB] reading input... +[t=0.013581s, 12120 KB] done reading input! +[t=0.017854s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017854s, 12384 KB] Generating landmark graph... +[t=0.017854s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017854s, 12384 KB] Initializing Exploration... +[t=0.017854s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017854s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017854s, 12384 KB] Discovered 10 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017854s, 12384 KB] 12 edges +[t=0.017854s, 12384 KB] approx. reasonable orders +[t=0.017854s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017854s, 12384 KB] Discovered 10 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017854s, 12384 KB] 13 edges +[t=0.017854s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017854s, 12384 KB] Landmark graph contains 10 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017854s, 12384 KB] Landmark graph contains 13 orderings. +[t=0.017854s, 12384 KB] Simplifying 56 unary operators... done! [45 unary operators] +[t=0.017854s, 12384 KB] time to simplify: 0.000000s +[t=0.017854s, 12384 KB] Initializing additive heuristic... +[t=0.017854s, 12384 KB] Initializing FF heuristic... +[t=0.017854s, 12384 KB] Building successor generator...done! +[t=0.017854s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017854s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017854s, 12384 KB] Variables: 19 +[t=0.017854s, 12384 KB] FactPairs: 38 +[t=0.017854s, 12384 KB] Bytes per state: 4 +[t=0.017854s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017854s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.017854s, 12520 KB] New best heuristic value for ff: 3 +[t=0.017854s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.017854s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 +[t=0.017854s, 12520 KB] Initial heuristic value for ff: 3 +[t=0.017854s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.017854s, 12520 KB] New best heuristic value for ff: 2 +[t=0.017854s, 12520 KB] g=1, 3 evaluated, 1 expanded +[t=0.017854s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017854s, 12520 KB] New best heuristic value for ff: 1 +[t=0.017854s, 12520 KB] g=2, 4 evaluated, 2 expanded +[t=0.017854s, 12520 KB] Solution found! +[t=0.017854s, 12520 KB] Actual search time: 0.000000s find-hiding-spot_bob_l2 (1) share-hiding-spot-location_bob_alice_l2_l2 (1) hide_alice_cindy_l2_l1 (1) -[t=0.017020s, 12520 KB] Plan length: 3 step(s). -[t=0.017020s, 12520 KB] Plan cost: 3 -[t=0.017020s, 12520 KB] Expanded 3 state(s). -[t=0.017020s, 12520 KB] Reopened 0 state(s). -[t=0.017020s, 12520 KB] Evaluated 5 state(s). -[t=0.017020s, 12520 KB] Evaluations: 9 -[t=0.017020s, 12520 KB] Generated 21 state(s). -[t=0.017020s, 12520 KB] Dead ends: 1 state(s). -[t=0.017020s, 12520 KB] Number of registered states: 5 -[t=0.017020s, 12520 KB] Int hash set load factor: 5/8 = 0.625000 -[t=0.017020s, 12520 KB] Int hash set resizes: 3 -[t=0.017020s, 12520 KB] Search time: 0.001956s -[t=0.017020s, 12520 KB] Total time: 0.017020s +[t=0.017854s, 12520 KB] Plan length: 3 step(s). +[t=0.017854s, 12520 KB] Plan cost: 3 +[t=0.017854s, 12520 KB] Expanded 3 state(s). +[t=0.017854s, 12520 KB] Reopened 0 state(s). +[t=0.017854s, 12520 KB] Evaluated 5 state(s). +[t=0.017854s, 12520 KB] Evaluations: 9 +[t=0.017854s, 12520 KB] Generated 21 state(s). +[t=0.017854s, 12520 KB] Dead ends: 1 state(s). +[t=0.017854s, 12520 KB] Number of registered states: 5 +[t=0.017854s, 12520 KB] Int hash set load factor: 5/8 = 0.625000 +[t=0.017854s, 12520 KB] Int hash set resizes: 3 +[t=0.017854s, 12520 KB] Search time: 0.000000s +[t=0.017854s, 12520 KB] Total time: 0.017854s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.85s +INFO Planner time: 0.59s diff --git a/bdi_extension/belief-intention/output_4.txt b/bdi_extension/belief-intention/output_4.txt index 3ca3982..a25ecc0 100644 --- a/bdi_extension/belief-intention/output_4.txt +++ b/bdi_extension/belief-intention/output_4.txt @@ -7,33 +7,33 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.200s CPU, 0.202s wall-clock] -Normalizing task... [0.010s CPU, 0.011s wall-clock] +Parsing: [0.230s CPU, 0.228s wall-clock] +Normalizing task... [0.010s CPU, 0.008s wall-clock] Instantiating... -Generating Datalog program... [0.010s CPU, 0.005s wall-clock] +Generating Datalog program... [0.010s CPU, 0.007s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.010s wall-clock] -Preparing model... [0.010s CPU, 0.013s wall-clock] -Generated 1810 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.020s CPU, 0.025s wall-clock] +Preparing model... [0.020s CPU, 0.020s wall-clock] +Generated 1891 rules. +Computing model... [0.010s CPU, 0.003s wall-clock] 2118 relevant atoms 0 auxiliary atoms 2118 final queue length -2163 total queue pushes -Completing instantiation... [0.010s CPU, 0.003s wall-clock] -Instantiating: [0.040s CPU, 0.034s wall-clock] +2165 total queue pushes +Completing instantiation... [0.000s CPU, 0.004s wall-clock] +Instantiating: [0.060s CPU, 0.061s wall-clock] Computing fact groups... Finding invariants... -236 initial candidates -Finding invariants: [0.320s CPU, 0.328s wall-clock] -Checking invariant weight... [0.000s CPU, 0.000s wall-clock] +211 initial candidates +Finding invariants: [0.180s CPU, 0.170s wall-clock] +Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 110 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.320s CPU, 0.329s wall-clock] +Computing fact groups: [0.180s CPU, 0.172s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,32 +43,32 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.000s CPU, 0.001s wall-clock] -51 effect conditions simplified +Translating task: [0.000s CPU, 0.002s wall-clock] +27 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -149 propositions removed +169 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -19 of 37 variables necessary. -2 of 5 mutex groups necessary. +19 of 27 variables necessary. +1 of 2 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] Translator variables: 19 Translator derived variables: 0 Translator facts: 38 Translator goal facts: 2 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 1 +Translator total mutex groups size: 2 Translator operators: 25 Translator axioms: 0 -Translator task size: 261 -Translator peak memory: 48556 KB -Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.580s CPU, 0.579s wall-clock] +Translator task size: 259 +Translator peak memory: 40872 KB +Writing output... [0.000s CPU, 0.001s wall-clock] +Done! [0.480s CPU, 0.474s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,70 +76,70 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010087s, 12120 KB] reading input... -[t=0.010847s, 12120 KB] done reading input! -[t=0.015163s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015163s, 12384 KB] Generating landmark graph... -[t=0.015163s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015163s, 12384 KB] Initializing Exploration... -[t=0.015163s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015163s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015163s, 12384 KB] Discovered 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015163s, 12384 KB] 13 edges -[t=0.015163s, 12384 KB] approx. reasonable orders -[t=0.015163s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015163s, 12384 KB] Discovered 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015163s, 12384 KB] 14 edges -[t=0.015163s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015163s, 12384 KB] Landmark graph contains 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015163s, 12384 KB] Landmark graph contains 14 orderings. -[t=0.015163s, 12384 KB] Simplifying 58 unary operators... done! [47 unary operators] -[t=0.015163s, 12384 KB] time to simplify: 0.000000s -[t=0.015163s, 12384 KB] Initializing additive heuristic... -[t=0.015163s, 12384 KB] Initializing FF heuristic... -[t=0.015163s, 12384 KB] Building successor generator...done! -[t=0.015163s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015163s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015163s, 12384 KB] Variables: 19 -[t=0.015163s, 12384 KB] FactPairs: 38 -[t=0.015163s, 12384 KB] Bytes per state: 4 -[t=0.015163s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015163s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.015163s, 12516 KB] New best heuristic value for ff: 4 -[t=0.015163s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.015163s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 4 -[t=0.015163s, 12516 KB] Initial heuristic value for ff: 4 -[t=0.015163s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.015163s, 12516 KB] New best heuristic value for ff: 3 -[t=0.015163s, 12516 KB] g=1, 4 evaluated, 1 expanded -[t=0.015163s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.015163s, 12516 KB] New best heuristic value for ff: 2 -[t=0.015163s, 12516 KB] g=2, 5 evaluated, 2 expanded -[t=0.015163s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.015163s, 12516 KB] New best heuristic value for ff: 1 -[t=0.015163s, 12516 KB] g=3, 6 evaluated, 3 expanded -[t=0.015163s, 12516 KB] Solution found! -[t=0.015163s, 12516 KB] Actual search time: 0.000000s +[t=0.012105s, 12120 KB] reading input... +[t=0.013023s, 12120 KB] done reading input! +[t=0.018251s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018251s, 12384 KB] Generating landmark graph... +[t=0.018251s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018251s, 12384 KB] Initializing Exploration... +[t=0.018251s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018251s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018251s, 12384 KB] Discovered 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018251s, 12384 KB] 13 edges +[t=0.018251s, 12384 KB] approx. reasonable orders +[t=0.018251s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018251s, 12384 KB] Discovered 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018251s, 12384 KB] 14 edges +[t=0.018251s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018251s, 12384 KB] Landmark graph contains 11 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018251s, 12384 KB] Landmark graph contains 14 orderings. +[t=0.018251s, 12384 KB] Simplifying 58 unary operators... done! [47 unary operators] +[t=0.018251s, 12384 KB] time to simplify: 0.000000s +[t=0.018251s, 12384 KB] Initializing additive heuristic... +[t=0.018251s, 12384 KB] Initializing FF heuristic... +[t=0.018251s, 12384 KB] Building successor generator...done! +[t=0.018251s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018251s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018251s, 12384 KB] Variables: 19 +[t=0.018251s, 12384 KB] FactPairs: 38 +[t=0.018251s, 12384 KB] Bytes per state: 4 +[t=0.018251s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018251s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.018251s, 12516 KB] New best heuristic value for ff: 4 +[t=0.018251s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.018251s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 4 +[t=0.018251s, 12516 KB] Initial heuristic value for ff: 4 +[t=0.018251s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018251s, 12516 KB] New best heuristic value for ff: 3 +[t=0.018251s, 12516 KB] g=1, 4 evaluated, 1 expanded +[t=0.018251s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.018251s, 12516 KB] New best heuristic value for ff: 2 +[t=0.018251s, 12516 KB] g=2, 5 evaluated, 2 expanded +[t=0.018251s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018251s, 12516 KB] New best heuristic value for ff: 1 +[t=0.018251s, 12516 KB] g=3, 6 evaluated, 3 expanded +[t=0.018251s, 12516 KB] Solution found! +[t=0.018251s, 12516 KB] Actual search time: 0.000000s find-hiding-spot_bob_l2 (1) share-hiding-spot-location_bob_alice_l2_l2 (1) hide_alice_cindy_l2_l1 (1) move_cindy_l1_l2 (1) -[t=0.015163s, 12516 KB] Plan length: 4 step(s). -[t=0.015163s, 12516 KB] Plan cost: 4 -[t=0.015163s, 12516 KB] Expanded 4 state(s). -[t=0.015163s, 12516 KB] Reopened 0 state(s). -[t=0.015163s, 12516 KB] Evaluated 9 state(s). -[t=0.015163s, 12516 KB] Evaluations: 14 -[t=0.015163s, 12516 KB] Generated 29 state(s). -[t=0.015163s, 12516 KB] Dead ends: 4 state(s). -[t=0.015163s, 12516 KB] Number of registered states: 9 -[t=0.015163s, 12516 KB] Int hash set load factor: 9/16 = 0.562500 -[t=0.015163s, 12516 KB] Int hash set resizes: 4 -[t=0.015163s, 12516 KB] Search time: 0.000000s -[t=0.015163s, 12516 KB] Total time: 0.015163s +[t=0.018251s, 12516 KB] Plan length: 4 step(s). +[t=0.018251s, 12516 KB] Plan cost: 4 +[t=0.018251s, 12516 KB] Expanded 4 state(s). +[t=0.018251s, 12516 KB] Reopened 0 state(s). +[t=0.018251s, 12516 KB] Evaluated 9 state(s). +[t=0.018251s, 12516 KB] Evaluations: 14 +[t=0.018251s, 12516 KB] Generated 29 state(s). +[t=0.018251s, 12516 KB] Dead ends: 4 state(s). +[t=0.018251s, 12516 KB] Number of registered states: 9 +[t=0.018251s, 12516 KB] Int hash set load factor: 9/16 = 0.562500 +[t=0.018251s, 12516 KB] Int hash set resizes: 4 +[t=0.018251s, 12516 KB] Search time: 0.000000s +[t=0.018251s, 12516 KB] Total time: 0.018251s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.84s +INFO Planner time: 1.03s diff --git a/bdi_extension/belief-intention/output_5.txt b/bdi_extension/belief-intention/output_5.txt index 2663d80..b9d8f1f 100644 --- a/bdi_extension/belief-intention/output_5.txt +++ b/bdi_extension/belief-intention/output_5.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.220s CPU, 0.225s wall-clock] -Normalizing task... [0.010s CPU, 0.010s wall-clock] +Parsing: [0.120s CPU, 0.119s wall-clock] +Normalizing task... [0.010s CPU, 0.006s wall-clock] Instantiating... -Generating Datalog program... [0.010s CPU, 0.005s wall-clock] +Generating Datalog program... [0.000s CPU, 0.005s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.010s wall-clock] -Preparing model... [0.010s CPU, 0.013s wall-clock] -Generated 1810 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.020s CPU, 0.018s wall-clock] +Preparing model... [0.010s CPU, 0.015s wall-clock] +Generated 1891 rules. +Computing model... [0.000s CPU, 0.003s wall-clock] 2118 relevant atoms 0 auxiliary atoms 2118 final queue length -2163 total queue pushes -Completing instantiation... [0.010s CPU, 0.003s wall-clock] -Instantiating: [0.040s CPU, 0.034s wall-clock] +2165 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.040s CPU, 0.043s wall-clock] Computing fact groups... Finding invariants... -236 initial candidates -Finding invariants: [0.330s CPU, 0.324s wall-clock] +211 initial candidates +Finding invariants: [0.110s CPU, 0.110s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 110 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.330s CPU, 0.325s wall-clock] +Computing fact groups: [0.110s CPU, 0.112s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,17 +43,17 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.000s CPU, 0.002s wall-clock] -51 effect conditions simplified +Translating task: [0.000s CPU, 0.001s wall-clock] +27 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -149 propositions removed +169 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -19 of 37 variables necessary. -2 of 4 mutex groups necessary. +19 of 27 variables necessary. +1 of 2 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] @@ -61,14 +61,14 @@ Translator variables: 19 Translator derived variables: 0 Translator facts: 38 Translator goal facts: 1 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 1 +Translator total mutex groups size: 2 Translator operators: 25 Translator axioms: 0 -Translator task size: 260 -Translator peak memory: 47532 KB -Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.600s CPU, 0.598s wall-clock] +Translator task size: 258 +Translator peak memory: 39848 KB +Writing output... [0.000s CPU, 0.001s wall-clock] +Done! [0.280s CPU, 0.284s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,58 +76,58 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009963s, 12120 KB] reading input... -[t=0.010976s, 12120 KB] done reading input! -[t=0.015692s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015692s, 12384 KB] Generating landmark graph... -[t=0.015692s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015692s, 12384 KB] Initializing Exploration... -[t=0.015692s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015692s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015692s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015692s, 12384 KB] 1 edges -[t=0.015692s, 12384 KB] approx. reasonable orders -[t=0.015692s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015692s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015692s, 12384 KB] 1 edges -[t=0.015692s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015692s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015692s, 12384 KB] Landmark graph contains 1 orderings. -[t=0.015692s, 12384 KB] Simplifying 58 unary operators... done! [47 unary operators] -[t=0.015692s, 12384 KB] time to simplify: 0.000000s -[t=0.015692s, 12384 KB] Initializing additive heuristic... -[t=0.015692s, 12384 KB] Initializing FF heuristic... -[t=0.015692s, 12384 KB] Building successor generator...done! -[t=0.015692s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015692s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015692s, 12384 KB] Variables: 19 -[t=0.015692s, 12384 KB] FactPairs: 38 -[t=0.015692s, 12384 KB] Bytes per state: 4 -[t=0.015692s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015692s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.015692s, 12516 KB] New best heuristic value for ff: 1 -[t=0.015692s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.015692s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 -[t=0.015692s, 12516 KB] Initial heuristic value for ff: 1 -[t=0.015692s, 12516 KB] Solution found! -[t=0.015692s, 12516 KB] Actual search time: 0.000000s +[t=0.012538s, 12120 KB] reading input... +[t=0.013400s, 12120 KB] done reading input! +[t=0.018215s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018215s, 12384 KB] Generating landmark graph... +[t=0.018215s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018215s, 12384 KB] Initializing Exploration... +[t=0.018215s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.019496s, 12384 KB] Landmarks generation time: 0.001281s +[t=0.019496s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019496s, 12384 KB] 1 edges +[t=0.019496s, 12384 KB] approx. reasonable orders +[t=0.019496s, 12384 KB] Landmarks generation time: 0.001281s +[t=0.019496s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019496s, 12384 KB] 1 edges +[t=0.019496s, 12384 KB] Landmark graph generation time: 0.001281s +[t=0.019496s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.019496s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.019496s, 12384 KB] Simplifying 58 unary operators... done! [47 unary operators] +[t=0.019496s, 12384 KB] time to simplify: 0.000000s +[t=0.019496s, 12384 KB] Initializing additive heuristic... +[t=0.019496s, 12384 KB] Initializing FF heuristic... +[t=0.019496s, 12384 KB] Building successor generator...done! +[t=0.019496s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.019496s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.019496s, 12384 KB] Variables: 19 +[t=0.019496s, 12384 KB] FactPairs: 38 +[t=0.019496s, 12384 KB] Bytes per state: 4 +[t=0.019496s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.019496s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.019496s, 12516 KB] New best heuristic value for ff: 1 +[t=0.019496s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.019496s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.019496s, 12516 KB] Initial heuristic value for ff: 1 +[t=0.019496s, 12516 KB] Solution found! +[t=0.019496s, 12516 KB] Actual search time: 0.000000s move_cindy_l1_l2 (1) -[t=0.015692s, 12516 KB] Plan length: 1 step(s). -[t=0.015692s, 12516 KB] Plan cost: 1 -[t=0.015692s, 12516 KB] Expanded 1 state(s). -[t=0.015692s, 12516 KB] Reopened 0 state(s). -[t=0.015692s, 12516 KB] Evaluated 2 state(s). -[t=0.015692s, 12516 KB] Evaluations: 4 -[t=0.015692s, 12516 KB] Generated 6 state(s). -[t=0.015692s, 12516 KB] Dead ends: 0 state(s). -[t=0.015692s, 12516 KB] Number of registered states: 2 -[t=0.015692s, 12516 KB] Int hash set load factor: 2/2 = 1.000000 -[t=0.015692s, 12516 KB] Int hash set resizes: 1 -[t=0.015692s, 12516 KB] Search time: 0.000000s -[t=0.015692s, 12516 KB] Total time: 0.015692s +[t=0.019496s, 12516 KB] Plan length: 1 step(s). +[t=0.019496s, 12516 KB] Plan cost: 1 +[t=0.019496s, 12516 KB] Expanded 1 state(s). +[t=0.019496s, 12516 KB] Reopened 0 state(s). +[t=0.019496s, 12516 KB] Evaluated 2 state(s). +[t=0.019496s, 12516 KB] Evaluations: 4 +[t=0.019496s, 12516 KB] Generated 6 state(s). +[t=0.019496s, 12516 KB] Dead ends: 0 state(s). +[t=0.019496s, 12516 KB] Number of registered states: 2 +[t=0.019496s, 12516 KB] Int hash set load factor: 2/2 = 1.000000 +[t=0.019496s, 12516 KB] Int hash set resizes: 1 +[t=0.019496s, 12516 KB] Search time: 0.000000s +[t=0.019496s, 12516 KB] Total time: 0.019496s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.86s +INFO Planner time: 0.57s diff --git a/bdi_extension/belief-intention/output_6.txt b/bdi_extension/belief-intention/output_6.txt index 8230210..2526886 100644 --- a/bdi_extension/belief-intention/output_6.txt +++ b/bdi_extension/belief-intention/output_6.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.190s CPU, 0.194s wall-clock] -Normalizing task... [0.010s CPU, 0.009s wall-clock] +Parsing: [0.130s CPU, 0.121s wall-clock] +Normalizing task... [0.010s CPU, 0.006s wall-clock] Instantiating... Generating Datalog program... [0.000s CPU, 0.004s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.020s CPU, 0.010s wall-clock] -Preparing model... [0.010s CPU, 0.012s wall-clock] -Generated 1810 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.020s CPU, 0.016s wall-clock] +Preparing model... [0.010s CPU, 0.013s wall-clock] +Generated 1891 rules. +Computing model... [0.000s CPU, 0.002s wall-clock] 2118 relevant atoms 0 auxiliary atoms 2118 final queue length -2163 total queue pushes -Completing instantiation... [0.010s CPU, 0.003s wall-clock] -Instantiating: [0.040s CPU, 0.033s wall-clock] +2165 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.030s CPU, 0.039s wall-clock] Computing fact groups... Finding invariants... -236 initial candidates -Finding invariants: [0.310s CPU, 0.313s wall-clock] +211 initial candidates +Finding invariants: [0.110s CPU, 0.106s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 110 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.310s CPU, 0.314s wall-clock] +Computing fact groups: [0.110s CPU, 0.107s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,17 +43,17 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.000s CPU, 0.001s wall-clock] -51 effect conditions simplified +Translating task: [0.010s CPU, 0.001s wall-clock] +27 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -149 propositions removed +169 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -19 of 37 variables necessary. -2 of 5 mutex groups necessary. +19 of 27 variables necessary. +1 of 2 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] @@ -61,14 +61,14 @@ Translator variables: 19 Translator derived variables: 0 Translator facts: 38 Translator goal facts: 2 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 1 +Translator total mutex groups size: 2 Translator operators: 25 Translator axioms: 0 -Translator task size: 261 -Translator peak memory: 47532 KB +Translator task size: 259 +Translator peak memory: 39848 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.550s CPU, 0.554s wall-clock] +Done! [0.290s CPU, 0.277s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,63 +76,63 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010158s, 12120 KB] reading input... -[t=0.010738s, 12120 KB] done reading input! -[t=0.015044s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015044s, 12384 KB] Generating landmark graph... -[t=0.015044s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015044s, 12384 KB] Initializing Exploration... -[t=0.015044s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015044s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015044s, 12384 KB] Discovered 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015044s, 12384 KB] 30 edges -[t=0.015044s, 12384 KB] approx. reasonable orders -[t=0.015044s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.015044s, 12384 KB] Discovered 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015044s, 12384 KB] 30 edges -[t=0.015044s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.015044s, 12384 KB] Landmark graph contains 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015044s, 12384 KB] Landmark graph contains 30 orderings. -[t=0.015044s, 12384 KB] Simplifying 58 unary operators... done! [47 unary operators] -[t=0.015044s, 12384 KB] time to simplify: 0.000000s -[t=0.015044s, 12384 KB] Initializing additive heuristic... -[t=0.015044s, 12384 KB] Initializing FF heuristic... -[t=0.015044s, 12384 KB] Building successor generator...done! -[t=0.015044s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015044s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.015044s, 12384 KB] Variables: 19 -[t=0.015044s, 12384 KB] FactPairs: 38 -[t=0.015044s, 12384 KB] Bytes per state: 4 -[t=0.017298s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.017298s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.017298s, 12516 KB] New best heuristic value for ff: 7 -[t=0.017298s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.017298s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 7 -[t=0.017298s, 12516 KB] Initial heuristic value for ff: 7 -[t=0.017298s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.017298s, 12516 KB] g=1, 4 evaluated, 1 expanded -[t=0.017298s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.017298s, 12516 KB] New best heuristic value for ff: 6 -[t=0.017298s, 12516 KB] g=2, 7 evaluated, 3 expanded -[t=0.017298s, 12516 KB] New best heuristic value for ff: 5 -[t=0.017298s, 12516 KB] g=3, 8 evaluated, 4 expanded -[t=0.017298s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017298s, 12516 KB] g=3, 10 evaluated, 5 expanded -[t=0.017298s, 12516 KB] New best heuristic value for ff: 4 -[t=0.017298s, 12516 KB] g=4, 11 evaluated, 6 expanded -[t=0.017298s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017298s, 12516 KB] g=4, 13 evaluated, 7 expanded -[t=0.017298s, 12516 KB] New best heuristic value for ff: 3 -[t=0.017298s, 12516 KB] g=5, 14 evaluated, 8 expanded -[t=0.017298s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017298s, 12516 KB] g=5, 16 evaluated, 9 expanded -[t=0.017298s, 12516 KB] New best heuristic value for ff: 2 -[t=0.017298s, 12516 KB] g=6, 17 evaluated, 10 expanded -[t=0.017298s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017298s, 12516 KB] New best heuristic value for ff: 1 -[t=0.017298s, 12516 KB] g=7, 30 evaluated, 16 expanded -[t=0.017298s, 12516 KB] Solution found! -[t=0.017298s, 12516 KB] Actual search time: 0.000000s +[t=0.010858s, 12120 KB] reading input... +[t=0.011711s, 12120 KB] done reading input! +[t=0.016670s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017909s, 12384 KB] Generating landmark graph... +[t=0.017909s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017909s, 12384 KB] Initializing Exploration... +[t=0.017909s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017909s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017909s, 12384 KB] Discovered 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017909s, 12384 KB] 30 edges +[t=0.017909s, 12384 KB] approx. reasonable orders +[t=0.017909s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017909s, 12384 KB] Discovered 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017909s, 12384 KB] 30 edges +[t=0.017909s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017909s, 12384 KB] Landmark graph contains 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017909s, 12384 KB] Landmark graph contains 30 orderings. +[t=0.017909s, 12384 KB] Simplifying 58 unary operators... done! [47 unary operators] +[t=0.017909s, 12384 KB] time to simplify: 0.000000s +[t=0.017909s, 12384 KB] Initializing additive heuristic... +[t=0.017909s, 12384 KB] Initializing FF heuristic... +[t=0.017909s, 12384 KB] Building successor generator...done! +[t=0.017909s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017909s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017909s, 12384 KB] Variables: 19 +[t=0.017909s, 12384 KB] FactPairs: 38 +[t=0.017909s, 12384 KB] Bytes per state: 4 +[t=0.017909s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017909s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 +[t=0.017909s, 12516 KB] New best heuristic value for ff: 7 +[t=0.017909s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.017909s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 7 +[t=0.017909s, 12516 KB] Initial heuristic value for ff: 7 +[t=0.017909s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.017909s, 12516 KB] g=1, 4 evaluated, 1 expanded +[t=0.017909s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.017909s, 12516 KB] New best heuristic value for ff: 6 +[t=0.017909s, 12516 KB] g=2, 7 evaluated, 3 expanded +[t=0.017909s, 12516 KB] New best heuristic value for ff: 5 +[t=0.017909s, 12516 KB] g=3, 8 evaluated, 4 expanded +[t=0.017909s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.017909s, 12516 KB] g=3, 10 evaluated, 5 expanded +[t=0.017909s, 12516 KB] New best heuristic value for ff: 4 +[t=0.017909s, 12516 KB] g=4, 11 evaluated, 6 expanded +[t=0.017909s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.017909s, 12516 KB] g=4, 13 evaluated, 7 expanded +[t=0.017909s, 12516 KB] New best heuristic value for ff: 3 +[t=0.017909s, 12516 KB] g=5, 14 evaluated, 8 expanded +[t=0.017909s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.017909s, 12516 KB] g=5, 16 evaluated, 9 expanded +[t=0.017909s, 12516 KB] New best heuristic value for ff: 2 +[t=0.017909s, 12516 KB] g=6, 17 evaluated, 10 expanded +[t=0.017909s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017909s, 12516 KB] New best heuristic value for ff: 1 +[t=0.017909s, 12516 KB] g=7, 30 evaluated, 16 expanded +[t=0.017909s, 12516 KB] Solution found! +[t=0.017909s, 12516 KB] Actual search time: 0.000000s move_bob_l2_l3 (1) find-flag_bob_l3 (1) move_bob_l3_l2 (1) @@ -141,22 +141,22 @@ move_alice_l2_l3 (1) move_cindy_l1_l2 (1) grab-flag_alice_l3 (1) capture-win_alice_l3 (1) -[t=0.017298s, 12516 KB] Plan length: 8 step(s). -[t=0.017298s, 12516 KB] Plan cost: 8 -[t=0.017298s, 12516 KB] Expanded 17 state(s). -[t=0.017298s, 12516 KB] Reopened 0 state(s). -[t=0.017298s, 12516 KB] Evaluated 31 state(s). -[t=0.017298s, 12516 KB] Evaluations: 49 -[t=0.017298s, 12516 KB] Generated 101 state(s). -[t=0.017298s, 12516 KB] Dead ends: 13 state(s). -[t=0.017298s, 12516 KB] Number of registered states: 31 -[t=0.017298s, 12516 KB] Int hash set load factor: 31/32 = 0.968750 -[t=0.017298s, 12516 KB] Int hash set resizes: 5 -[t=0.017298s, 12516 KB] Search time: 0.000000s -[t=0.017298s, 12516 KB] Total time: 0.017298s +[t=0.017909s, 12516 KB] Plan length: 8 step(s). +[t=0.017909s, 12516 KB] Plan cost: 8 +[t=0.017909s, 12516 KB] Expanded 17 state(s). +[t=0.017909s, 12516 KB] Reopened 0 state(s). +[t=0.017909s, 12516 KB] Evaluated 31 state(s). +[t=0.017909s, 12516 KB] Evaluations: 49 +[t=0.017909s, 12516 KB] Generated 101 state(s). +[t=0.017909s, 12516 KB] Dead ends: 13 state(s). +[t=0.017909s, 12516 KB] Number of registered states: 31 +[t=0.017909s, 12516 KB] Int hash set load factor: 31/32 = 0.968750 +[t=0.017909s, 12516 KB] Int hash set resizes: 5 +[t=0.017909s, 12516 KB] Search time: 0.000000s +[t=0.017909s, 12516 KB] Total time: 0.017909s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.83s +INFO Planner time: 0.57s diff --git a/bdi_extension/belief-intention/output_7.txt b/bdi_extension/belief-intention/output_7.txt index 549f376..eef3e73 100644 --- a/bdi_extension/belief-intention/output_7.txt +++ b/bdi_extension/belief-intention/output_7.txt @@ -7,33 +7,33 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.190s CPU, 0.191s wall-clock] -Normalizing task... [0.010s CPU, 0.010s wall-clock] +Parsing: [0.130s CPU, 0.122s wall-clock] +Normalizing task... [0.000s CPU, 0.006s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.004s wall-clock] +Generating Datalog program... [0.010s CPU, 0.004s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.010s wall-clock] -Preparing model... [0.020s CPU, 0.013s wall-clock] -Generated 1810 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.010s CPU, 0.017s wall-clock] +Preparing model... [0.020s CPU, 0.015s wall-clock] +Generated 1891 rules. +Computing model... [0.000s CPU, 0.002s wall-clock] 2118 relevant atoms 0 auxiliary atoms 2118 final queue length -2163 total queue pushes -Completing instantiation... [0.000s CPU, 0.003s wall-clock] -Instantiating: [0.030s CPU, 0.033s wall-clock] +2165 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.040s CPU, 0.042s wall-clock] Computing fact groups... Finding invariants... -236 initial candidates -Finding invariants: [0.330s CPU, 0.325s wall-clock] -Checking invariant weight... [0.000s CPU, 0.001s wall-clock] +211 initial candidates +Finding invariants: [0.100s CPU, 0.105s wall-clock] +Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 110 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.330s CPU, 0.327s wall-clock] +Computing fact groups: [0.100s CPU, 0.107s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,17 +43,17 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.002s wall-clock] -51 effect conditions simplified +Translating task: [0.000s CPU, 0.002s wall-clock] +27 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -149 propositions removed -Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] +169 propositions removed +Detecting unreachable propositions: [0.010s CPU, 0.001s wall-clock] Reordering and filtering variables... -19 of 37 variables necessary. -2 of 6 mutex groups necessary. +19 of 27 variables necessary. +1 of 2 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] @@ -61,14 +61,14 @@ Translator variables: 19 Translator derived variables: 0 Translator facts: 38 Translator goal facts: 2 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 1 +Translator total mutex groups size: 2 Translator operators: 25 Translator axioms: 0 -Translator task size: 261 -Translator peak memory: 48556 KB +Translator task size: 259 +Translator peak memory: 39848 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.570s CPU, 0.564s wall-clock] +Done! [0.280s CPU, 0.280s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,58 +76,58 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009931s, 12120 KB] reading input... -[t=0.010665s, 12120 KB] done reading input! -[t=0.014979s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014979s, 12384 KB] Generating landmark graph... -[t=0.014979s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014979s, 12384 KB] Initializing Exploration... -[t=0.014979s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.016174s, 12384 KB] Landmarks generation time: 0.001195s -[t=0.016174s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016174s, 12384 KB] 2 edges -[t=0.016174s, 12384 KB] approx. reasonable orders -[t=0.016174s, 12384 KB] Landmarks generation time: 0.001195s -[t=0.016174s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016174s, 12384 KB] 2 edges -[t=0.016174s, 12384 KB] Landmark graph generation time: 0.001195s -[t=0.016174s, 12384 KB] Landmark graph contains 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016174s, 12384 KB] Landmark graph contains 2 orderings. -[t=0.016174s, 12384 KB] Simplifying 58 unary operators... done! [47 unary operators] -[t=0.016174s, 12384 KB] time to simplify: 0.000000s -[t=0.016174s, 12384 KB] Initializing additive heuristic... -[t=0.016174s, 12384 KB] Initializing FF heuristic... -[t=0.016174s, 12384 KB] Building successor generator...done! -[t=0.016174s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.016174s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.016174s, 12384 KB] Variables: 19 -[t=0.016174s, 12384 KB] FactPairs: 38 -[t=0.016174s, 12384 KB] Bytes per state: 4 -[t=0.016174s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016174s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.016174s, 12516 KB] New best heuristic value for ff: 2 -[t=0.016174s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.016174s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 2 -[t=0.016174s, 12516 KB] Initial heuristic value for ff: 2 -[t=0.016174s, 12516 KB] Solution found! -[t=0.016174s, 12516 KB] Actual search time: 0.000000s +[t=0.013346s, 12120 KB] reading input... +[t=0.013534s, 12120 KB] done reading input! +[t=0.018620s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018620s, 12384 KB] Generating landmark graph... +[t=0.018620s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018620s, 12384 KB] Initializing Exploration... +[t=0.018620s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018620s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018620s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018620s, 12384 KB] 2 edges +[t=0.018620s, 12384 KB] approx. reasonable orders +[t=0.018620s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018620s, 12384 KB] Discovered 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018620s, 12384 KB] 2 edges +[t=0.018620s, 12384 KB] Landmark graph generation time: 0.002075s +[t=0.020695s, 12384 KB] Landmark graph contains 4 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.020695s, 12384 KB] Landmark graph contains 2 orderings. +[t=0.020695s, 12384 KB] Simplifying 58 unary operators... done! [47 unary operators] +[t=0.020695s, 12384 KB] time to simplify: 0.000000s +[t=0.020695s, 12384 KB] Initializing additive heuristic... +[t=0.020695s, 12384 KB] Initializing FF heuristic... +[t=0.020695s, 12384 KB] Building successor generator...done! +[t=0.020695s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.020695s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.020695s, 12384 KB] Variables: 19 +[t=0.020695s, 12384 KB] FactPairs: 38 +[t=0.020695s, 12384 KB] Bytes per state: 4 +[t=0.020695s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.020695s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.020695s, 12516 KB] New best heuristic value for ff: 2 +[t=0.020695s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.020695s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 2 +[t=0.020695s, 12516 KB] Initial heuristic value for ff: 2 +[t=0.020695s, 12516 KB] Solution found! +[t=0.020695s, 12516 KB] Actual search time: 0.000000s move_cindy_l1_l2 (1) -[t=0.016174s, 12516 KB] Plan length: 1 step(s). -[t=0.016174s, 12516 KB] Plan cost: 1 -[t=0.016174s, 12516 KB] Expanded 1 state(s). -[t=0.016174s, 12516 KB] Reopened 0 state(s). -[t=0.016174s, 12516 KB] Evaluated 2 state(s). -[t=0.016174s, 12516 KB] Evaluations: 4 -[t=0.016174s, 12516 KB] Generated 6 state(s). -[t=0.016174s, 12516 KB] Dead ends: 0 state(s). -[t=0.016174s, 12516 KB] Number of registered states: 2 -[t=0.016174s, 12516 KB] Int hash set load factor: 2/2 = 1.000000 -[t=0.016174s, 12516 KB] Int hash set resizes: 1 -[t=0.016174s, 12516 KB] Search time: 0.000000s -[t=0.016174s, 12516 KB] Total time: 0.016174s +[t=0.020695s, 12516 KB] Plan length: 1 step(s). +[t=0.020695s, 12516 KB] Plan cost: 1 +[t=0.020695s, 12516 KB] Expanded 1 state(s). +[t=0.020695s, 12516 KB] Reopened 0 state(s). +[t=0.020695s, 12516 KB] Evaluated 2 state(s). +[t=0.020695s, 12516 KB] Evaluations: 4 +[t=0.020695s, 12516 KB] Generated 6 state(s). +[t=0.020695s, 12516 KB] Dead ends: 0 state(s). +[t=0.020695s, 12516 KB] Number of registered states: 2 +[t=0.020695s, 12516 KB] Int hash set load factor: 2/2 = 1.000000 +[t=0.020695s, 12516 KB] Int hash set resizes: 1 +[t=0.020695s, 12516 KB] Search time: 0.000000s +[t=0.020695s, 12516 KB] Total time: 0.020695s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.83s +INFO Planner time: 0.58s diff --git a/bdi_extension/belief-intention/output_8.txt b/bdi_extension/belief-intention/output_8.txt index b24f5a0..bbccba7 100644 --- a/bdi_extension/belief-intention/output_8.txt +++ b/bdi_extension/belief-intention/output_8.txt @@ -7,25 +7,25 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.200s CPU, 0.197s wall-clock] -Normalizing task... [0.010s CPU, 0.011s wall-clock] +Parsing: [0.110s CPU, 0.126s wall-clock] +Normalizing task... [0.010s CPU, 0.006s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.005s wall-clock] +Generating Datalog program... [0.000s CPU, 0.004s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.011s wall-clock] -Preparing model... [0.010s CPU, 0.013s wall-clock] -Generated 1810 rules. -Computing model... [0.010s CPU, 0.001s wall-clock] +Normalizing Datalog program: [0.010s CPU, 0.018s wall-clock] +Preparing model... [0.020s CPU, 0.015s wall-clock] +Generated 1891 rules. +Computing model... [0.000s CPU, 0.002s wall-clock] 2117 relevant atoms 0 auxiliary atoms 2117 final queue length -2161 total queue pushes -Completing instantiation... [0.000s CPU, 0.003s wall-clock] -Instantiating: [0.030s CPU, 0.034s wall-clock] +2163 total queue pushes +Completing instantiation... [0.000s CPU, 0.002s wall-clock] +Instantiating: [0.040s CPU, 0.043s wall-clock] Computing fact groups... Finding invariants... -236 initial candidates -Finding invariants: [0.340s CPU, 0.336s wall-clock] +211 initial candidates +Finding invariants: [0.110s CPU, 0.101s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] @@ -33,7 +33,7 @@ Choosing groups... 109 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [0.340s CPU, 0.338s wall-clock] +Computing fact groups: [0.110s CPU, 0.103s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,16 +44,16 @@ Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] Translating task: [0.000s CPU, 0.001s wall-clock] -50 effect conditions simplified +26 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -151 propositions removed +171 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -19 of 35 variables necessary. -2 of 6 mutex groups necessary. +19 of 25 variables necessary. +1 of 2 mutex groups necessary. 25 of 25 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] @@ -61,14 +61,14 @@ Translator variables: 19 Translator derived variables: 0 Translator facts: 38 Translator goal facts: 1 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 1 +Translator total mutex groups size: 2 Translator operators: 25 Translator axioms: 0 -Translator task size: 252 -Translator peak memory: 48556 KB -Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [0.580s CPU, 0.584s wall-clock] +Translator task size: 250 +Translator peak memory: 39848 KB +Writing output... [0.010s CPU, 0.000s wall-clock] +Done! [0.280s CPU, 0.280s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,59 +76,59 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010235s, 12120 KB] reading input... -[t=0.010789s, 12120 KB] done reading input! -[t=0.014982s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014982s, 12384 KB] Generating landmark graph... -[t=0.014982s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014982s, 12384 KB] Initializing Exploration... -[t=0.014982s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014982s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014982s, 12384 KB] Discovered 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014982s, 12384 KB] 33 edges -[t=0.014982s, 12384 KB] approx. reasonable orders -[t=0.014982s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014982s, 12384 KB] Discovered 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014982s, 12384 KB] 33 edges -[t=0.014982s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014982s, 12384 KB] Landmark graph contains 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014982s, 12384 KB] Landmark graph contains 33 orderings. -[t=0.014982s, 12384 KB] Simplifying 56 unary operators... done! [45 unary operators] -[t=0.014982s, 12384 KB] time to simplify: 0.000000s -[t=0.014982s, 12384 KB] Initializing additive heuristic... -[t=0.014982s, 12384 KB] Initializing FF heuristic... -[t=0.014982s, 12384 KB] Building successor generator...done! -[t=0.014982s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014982s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014982s, 12384 KB] Variables: 19 -[t=0.014982s, 12384 KB] FactPairs: 38 -[t=0.014982s, 12384 KB] Bytes per state: 4 -[t=0.014982s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.014982s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.014982s, 12520 KB] New best heuristic value for ff: 7 -[t=0.014982s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.014982s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 7 -[t=0.014982s, 12520 KB] Initial heuristic value for ff: 7 -[t=0.014982s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.014982s, 12520 KB] New best heuristic value for ff: 6 -[t=0.017564s, 12520 KB] g=1, 4 evaluated, 2 expanded -[t=0.017564s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.017564s, 12520 KB] New best heuristic value for ff: 5 -[t=0.017564s, 12520 KB] g=2, 6 evaluated, 4 expanded -[t=0.017564s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017564s, 12520 KB] New best heuristic value for ff: 4 -[t=0.017564s, 12520 KB] g=3, 7 evaluated, 5 expanded -[t=0.017564s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017564s, 12520 KB] New best heuristic value for ff: 3 -[t=0.017564s, 12520 KB] g=4, 8 evaluated, 6 expanded -[t=0.017564s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017564s, 12520 KB] New best heuristic value for ff: 2 -[t=0.017564s, 12520 KB] g=5, 9 evaluated, 7 expanded -[t=0.017564s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017564s, 12520 KB] New best heuristic value for ff: 1 -[t=0.017564s, 12520 KB] g=13, 54 evaluated, 30 expanded -[t=0.017564s, 12520 KB] Solution found! -[t=0.017564s, 12520 KB] Actual search time: 0.002583s +[t=0.011577s, 12120 KB] reading input... +[t=0.012431s, 12120 KB] done reading input! +[t=0.017371s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017371s, 12384 KB] Generating landmark graph... +[t=0.017371s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017371s, 12384 KB] Initializing Exploration... +[t=0.017371s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017371s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017371s, 12384 KB] Discovered 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017371s, 12384 KB] 33 edges +[t=0.017371s, 12384 KB] approx. reasonable orders +[t=0.017371s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017371s, 12384 KB] Discovered 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017371s, 12384 KB] 33 edges +[t=0.017371s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017371s, 12384 KB] Landmark graph contains 19 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017371s, 12384 KB] Landmark graph contains 33 orderings. +[t=0.017371s, 12384 KB] Simplifying 56 unary operators... done! [45 unary operators] +[t=0.017371s, 12384 KB] time to simplify: 0.000000s +[t=0.017371s, 12384 KB] Initializing additive heuristic... +[t=0.017371s, 12384 KB] Initializing FF heuristic... +[t=0.017371s, 12384 KB] Building successor generator...done! +[t=0.017371s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017371s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017371s, 12384 KB] Variables: 19 +[t=0.017371s, 12384 KB] FactPairs: 38 +[t=0.017371s, 12384 KB] Bytes per state: 4 +[t=0.017371s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017371s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 7 +[t=0.017371s, 12520 KB] New best heuristic value for ff: 7 +[t=0.017371s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.017371s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 7 +[t=0.017371s, 12520 KB] Initial heuristic value for ff: 7 +[t=0.017371s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.017371s, 12520 KB] New best heuristic value for ff: 6 +[t=0.017371s, 12520 KB] g=1, 4 evaluated, 2 expanded +[t=0.017371s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.017371s, 12520 KB] New best heuristic value for ff: 5 +[t=0.017371s, 12520 KB] g=2, 6 evaluated, 4 expanded +[t=0.017371s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.017371s, 12520 KB] New best heuristic value for ff: 4 +[t=0.017371s, 12520 KB] g=3, 7 evaluated, 5 expanded +[t=0.017371s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.017371s, 12520 KB] New best heuristic value for ff: 3 +[t=0.017371s, 12520 KB] g=4, 8 evaluated, 6 expanded +[t=0.017371s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.017371s, 12520 KB] New best heuristic value for ff: 2 +[t=0.017371s, 12520 KB] g=5, 9 evaluated, 7 expanded +[t=0.017371s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017371s, 12520 KB] New best heuristic value for ff: 1 +[t=0.017371s, 12520 KB] g=13, 54 evaluated, 30 expanded +[t=0.017371s, 12520 KB] Solution found! +[t=0.017371s, 12520 KB] Actual search time: 0.000000s move_bob_l2_l3 (1) find-flag_bob_l3 (1) move_alice_l3_l2 (1) @@ -143,22 +143,22 @@ hide_alice_cindy_l2_l1 (1) move_cindy_l1_l2 (1) move_alice_l2_l1 (1) capture-win_alice_l1 (1) -[t=0.017564s, 12520 KB] Plan length: 14 step(s). -[t=0.017564s, 12520 KB] Plan cost: 14 -[t=0.017564s, 12520 KB] Expanded 31 state(s). -[t=0.017564s, 12520 KB] Reopened 0 state(s). -[t=0.017564s, 12520 KB] Evaluated 55 state(s). -[t=0.017564s, 12520 KB] Evaluations: 87 -[t=0.017564s, 12520 KB] Generated 164 state(s). -[t=0.017564s, 12520 KB] Dead ends: 23 state(s). -[t=0.017564s, 12520 KB] Number of registered states: 55 -[t=0.017564s, 12520 KB] Int hash set load factor: 55/64 = 0.859375 -[t=0.017564s, 12520 KB] Int hash set resizes: 6 -[t=0.017564s, 12520 KB] Search time: 0.002583s -[t=0.017564s, 12520 KB] Total time: 0.017564s +[t=0.017371s, 12520 KB] Plan length: 14 step(s). +[t=0.017371s, 12520 KB] Plan cost: 14 +[t=0.017371s, 12520 KB] Expanded 31 state(s). +[t=0.017371s, 12520 KB] Reopened 0 state(s). +[t=0.017371s, 12520 KB] Evaluated 55 state(s). +[t=0.017371s, 12520 KB] Evaluations: 87 +[t=0.017371s, 12520 KB] Generated 164 state(s). +[t=0.017371s, 12520 KB] Dead ends: 23 state(s). +[t=0.017371s, 12520 KB] Number of registered states: 55 +[t=0.017371s, 12520 KB] Int hash set load factor: 55/64 = 0.859375 +[t=0.017371s, 12520 KB] Int hash set resizes: 6 +[t=0.017371s, 12520 KB] Search time: 0.000000s +[t=0.017371s, 12520 KB] Total time: 0.017371s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 0.84s +INFO Planner time: 0.58s diff --git a/bdi_extension/belief-intention/output_9.txt b/bdi_extension/belief-intention/output_9.txt index 1fb9752..381df30 100644 --- a/bdi_extension/belief-intention/output_9.txt +++ b/bdi_extension/belief-intention/output_9.txt @@ -7,33 +7,33 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/belief-intention/pdkb-domain.pddl bdi_extension/belief-intention/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [2.020s CPU, 2.025s wall-clock] -Normalizing task... [0.030s CPU, 0.029s wall-clock] +Parsing: [1.750s CPU, 1.743s wall-clock] +Normalizing task... [0.010s CPU, 0.016s wall-clock] Instantiating... -Generating Datalog program... [0.080s CPU, 0.084s wall-clock] +Generating Datalog program... [0.040s CPU, 0.037s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.020s CPU, 0.018s wall-clock] -Preparing model... [0.320s CPU, 0.327s wall-clock] -Generated 3517 rules. -Computing model... [0.050s CPU, 0.043s wall-clock] +Normalizing Datalog program: [0.020s CPU, 0.021s wall-clock] +Preparing model... [0.390s CPU, 0.393s wall-clock] +Generated 3661 rules. +Computing model... [0.050s CPU, 0.050s wall-clock] 86618 relevant atoms 0 auxiliary atoms 86618 final queue length -86687 total queue pushes -Completing instantiation... [0.050s CPU, 0.050s wall-clock] -Instantiating: [0.530s CPU, 0.536s wall-clock] +86689 total queue pushes +Completing instantiation... [0.060s CPU, 0.054s wall-clock] +Instantiating: [0.570s CPU, 0.569s wall-clock] Computing fact groups... Finding invariants... -360 initial candidates -Finding invariants: [1.160s CPU, 1.096s wall-clock] -Checking invariant weight... [0.010s CPU, 0.010s wall-clock] +327 initial candidates +Finding invariants: [0.380s CPU, 0.383s wall-clock] +Checking invariant weight... [0.010s CPU, 0.012s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 167 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [1.170s CPU, 1.108s wall-clock] +Computing fact groups: [0.390s CPU, 0.396s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,32 +43,32 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.013s wall-clock] -63 effect conditions simplified +Translating task: [0.020s CPU, 0.013s wall-clock] +30 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -249 propositions removed +277 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -22 of 44 variables necessary. -2 of 6 mutex groups necessary. +22 of 30 variables necessary. +1 of 2 mutex groups necessary. 29 of 29 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.000s wall-clock] Translator variables: 22 Translator derived variables: 0 Translator facts: 44 Translator goal facts: 2 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 1 +Translator total mutex groups size: 2 Translator operators: 29 Translator axioms: 0 -Translator task size: 333 -Translator peak memory: 152860 KB +Translator task size: 331 +Translator peak memory: 138524 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [3.770s CPU, 3.715s wall-clock] +Done! [2.740s CPU, 2.740s wall-clock] translate exit code: 0 INFO Running search (release). @@ -76,66 +76,66 @@ INFO search stdin: output.sas INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009081s, 12120 KB] reading input... -[t=0.009866s, 12120 KB] done reading input! -[t=0.014250s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014250s, 12384 KB] Generating landmark graph... -[t=0.014250s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014250s, 12384 KB] Initializing Exploration... -[t=0.014250s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.014250s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014250s, 12384 KB] Discovered 23 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014250s, 12384 KB] 41 edges -[t=0.014250s, 12384 KB] approx. reasonable orders -[t=0.014250s, 12384 KB] Landmarks generation time: 0.000000s -[t=0.014250s, 12384 KB] Discovered 23 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014250s, 12384 KB] 41 edges -[t=0.014250s, 12384 KB] Landmark graph generation time: 0.000000s -[t=0.014250s, 12384 KB] Landmark graph contains 23 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.014250s, 12384 KB] Landmark graph contains 41 orderings. -[t=0.014250s, 12384 KB] Simplifying 79 unary operators... done! [60 unary operators] -[t=0.014250s, 12384 KB] time to simplify: 0.000000s -[t=0.014250s, 12384 KB] Initializing additive heuristic... -[t=0.014250s, 12384 KB] Initializing FF heuristic... -[t=0.014250s, 12384 KB] Building successor generator...done! -[t=0.014250s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.014250s, 12384 KB] time for successor generation creation: 0.000000s -[t=0.014250s, 12384 KB] Variables: 22 -[t=0.014250s, 12384 KB] FactPairs: 44 -[t=0.014250s, 12384 KB] Bytes per state: 4 -[t=0.014250s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 9 -[t=0.014250s, 12516 KB] New best heuristic value for ff: 9 -[t=0.014250s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.014250s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 9 -[t=0.014250s, 12516 KB] Initial heuristic value for ff: 9 -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 8 -[t=0.014250s, 12516 KB] g=1, 6 evaluated, 2 expanded -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.014250s, 12516 KB] New best heuristic value for ff: 8 -[t=0.014250s, 12516 KB] g=2, 7 evaluated, 3 expanded -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.014250s, 12516 KB] New best heuristic value for ff: 7 -[t=0.014250s, 12516 KB] g=3, 8 evaluated, 4 expanded -[t=0.014250s, 12516 KB] New best heuristic value for ff: 6 -[t=0.014250s, 12516 KB] g=4, 9 evaluated, 5 expanded -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.014250s, 12516 KB] New best heuristic value for ff: 5 -[t=0.014250s, 12516 KB] g=5, 10 evaluated, 6 expanded -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.014250s, 12516 KB] New best heuristic value for ff: 4 -[t=0.014250s, 12516 KB] g=6, 11 evaluated, 7 expanded -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.014250s, 12516 KB] New best heuristic value for ff: 3 -[t=0.014250s, 12516 KB] g=8, 14 evaluated, 9 expanded -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.014250s, 12516 KB] New best heuristic value for ff: 2 -[t=0.014250s, 12516 KB] g=9, 15 evaluated, 10 expanded -[t=0.014250s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.014250s, 12516 KB] New best heuristic value for ff: 1 -[t=0.014250s, 12516 KB] g=15, 165 evaluated, 96 expanded -[t=0.014250s, 12516 KB] Solution found! -[t=0.014250s, 12516 KB] Actual search time: 0.000000s +[t=0.011859s, 12120 KB] reading input... +[t=0.012747s, 12120 KB] done reading input! +[t=0.018924s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018924s, 12384 KB] Generating landmark graph... +[t=0.018924s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018924s, 12384 KB] Initializing Exploration... +[t=0.018924s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018924s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018924s, 12384 KB] Discovered 23 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018924s, 12384 KB] 41 edges +[t=0.018924s, 12384 KB] approx. reasonable orders +[t=0.018924s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018924s, 12384 KB] Discovered 23 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018924s, 12384 KB] 41 edges +[t=0.018924s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018924s, 12384 KB] Landmark graph contains 23 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018924s, 12384 KB] Landmark graph contains 41 orderings. +[t=0.018924s, 12384 KB] Simplifying 79 unary operators... done! [60 unary operators] +[t=0.018924s, 12384 KB] time to simplify: 0.000000s +[t=0.018924s, 12384 KB] Initializing additive heuristic... +[t=0.018924s, 12384 KB] Initializing FF heuristic... +[t=0.018924s, 12384 KB] Building successor generator...done! +[t=0.018924s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018924s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018924s, 12384 KB] Variables: 22 +[t=0.018924s, 12384 KB] FactPairs: 44 +[t=0.018924s, 12384 KB] Bytes per state: 4 +[t=0.018924s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 9 +[t=0.018924s, 12516 KB] New best heuristic value for ff: 9 +[t=0.018924s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.018924s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 9 +[t=0.018924s, 12516 KB] Initial heuristic value for ff: 9 +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 8 +[t=0.018924s, 12516 KB] g=1, 6 evaluated, 2 expanded +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 +[t=0.018924s, 12516 KB] New best heuristic value for ff: 8 +[t=0.018924s, 12516 KB] g=2, 7 evaluated, 3 expanded +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.018924s, 12516 KB] New best heuristic value for ff: 7 +[t=0.018924s, 12516 KB] g=3, 8 evaluated, 4 expanded +[t=0.018924s, 12516 KB] New best heuristic value for ff: 6 +[t=0.018924s, 12516 KB] g=4, 9 evaluated, 5 expanded +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.018924s, 12516 KB] New best heuristic value for ff: 5 +[t=0.018924s, 12516 KB] g=5, 10 evaluated, 6 expanded +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.018924s, 12516 KB] New best heuristic value for ff: 4 +[t=0.018924s, 12516 KB] g=6, 11 evaluated, 7 expanded +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018924s, 12516 KB] New best heuristic value for ff: 3 +[t=0.018924s, 12516 KB] g=8, 14 evaluated, 9 expanded +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.018924s, 12516 KB] New best heuristic value for ff: 2 +[t=0.018924s, 12516 KB] g=9, 15 evaluated, 10 expanded +[t=0.018924s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018924s, 12516 KB] New best heuristic value for ff: 1 +[t=0.018924s, 12516 KB] g=15, 165 evaluated, 96 expanded +[t=0.018924s, 12516 KB] Solution found! +[t=0.018924s, 12516 KB] Actual search time: 0.000000s move_bob_l2_l3 (1) find-flag_bob_l3 (1) find-hiding-spot_bob_l3 (1) @@ -152,22 +152,22 @@ move_cindy_l2_l3 (1) move_alice_l3_l2 (1) move_alice_l2_l1 (1) capture-win_alice_l1 (1) -[t=0.014250s, 12516 KB] Plan length: 16 step(s). -[t=0.014250s, 12516 KB] Plan cost: 16 -[t=0.014250s, 12516 KB] Expanded 97 state(s). -[t=0.014250s, 12516 KB] Reopened 0 state(s). -[t=0.014250s, 12516 KB] Evaluated 166 state(s). -[t=0.014250s, 12516 KB] Evaluations: 264 -[t=0.014250s, 12516 KB] Generated 591 state(s). -[t=0.014250s, 12516 KB] Dead ends: 68 state(s). -[t=0.014250s, 12516 KB] Number of registered states: 166 -[t=0.014250s, 12516 KB] Int hash set load factor: 166/256 = 0.648438 -[t=0.014250s, 12516 KB] Int hash set resizes: 8 -[t=0.014250s, 12516 KB] Search time: 0.000000s -[t=0.014250s, 12516 KB] Total time: 0.014250s +[t=0.018924s, 12516 KB] Plan length: 16 step(s). +[t=0.018924s, 12516 KB] Plan cost: 16 +[t=0.018924s, 12516 KB] Expanded 97 state(s). +[t=0.018924s, 12516 KB] Reopened 0 state(s). +[t=0.018924s, 12516 KB] Evaluated 166 state(s). +[t=0.018924s, 12516 KB] Evaluations: 264 +[t=0.018924s, 12516 KB] Generated 591 state(s). +[t=0.018924s, 12516 KB] Dead ends: 68 state(s). +[t=0.018924s, 12516 KB] Number of registered states: 166 +[t=0.018924s, 12516 KB] Int hash set load factor: 166/256 = 0.648438 +[t=0.018924s, 12516 KB] Int hash set resizes: 8 +[t=0.018924s, 12516 KB] Search time: 0.000000s +[t=0.018924s, 12516 KB] Total time: 0.018924s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 4.07s +INFO Planner time: 3.06s diff --git a/bdi_extension/full-bdi/domain.pdkbddl b/bdi_extension/full-bdi/domain.pdkbddl index 69462b6..3410d8f 100644 --- a/bdi_extension/full-bdi/domain.pdkbddl +++ b/bdi_extension/full-bdi/domain.pdkbddl @@ -1,7 +1,7 @@ (define (domain romance) - (:agents alice bob) + (:agents alice bob cindy) (:requirements :typing) (:types loc agent gift) (:constants ) @@ -13,7 +13,7 @@ {AK}(together ?a1 ?a2 - agent) {AK}(bought-gift ?ag - agent ?g - gift) {AK}(feel-chemistry ?a1 ?a2 - agent) - {AK}(rivals ?a1 ?a2 - agent) + (rivals ?a1 ?a2 - agent) (get-gift-for ?ag - agent) (retrieve-gift ?g - gift) (likes-gift ?ag - agent ?g - gift) @@ -32,7 +32,7 @@ :derive-condition never :parameters (?a1 ?a2 - agent ?l - loc) :precondition (and (at ?a1 ?l) (at ?a2 ?l) (feel-chemistry ?a1 ?a2)) - :effect (and + :effect (and (loves ?a1 ?a2) (forall (?ag - agent) (when (at ?ag ?l) [b, ?ag](loves ?a1 ?a2))) ) @@ -42,7 +42,7 @@ :derive-condition (at $agent$ ?l) :parameters (?a1 ?a2 - agent ?l - loc) :precondition (and (at ?a1 ?l) (at ?a2 ?l) (loves ?a1 ?a2) (loves ?a2 ?a1)) - :effect (and + :effect (and (when (loves ?a2 ?a1) (together ?a1 ?a2)) (when (loves ?a2 ?a1) [b, ?a1](loves ?a2 ?a1)) (when (!loves ?a2 ?a1) (sad ?a1)) @@ -54,7 +54,7 @@ :derive-condition never :parameters (?a1 ?a2 - agent) :precondition (and (loves ?a1 ?a2) [d, ?a1](loves ?a2 ?a1)) - :effect (and + :effect (and [i, ?a1](get-gift-for ?a2) ) ) @@ -63,7 +63,7 @@ :derive-condition never :parameters (?ag - agent ?g - gift ?l - loc) :precondition (and [i, ?ag](retrieve-gift ?g) (at ?ag ?l) (gift-at ?g ?l)) - :effect (and + :effect (and (not (gift-at ?g ?l)) (bought-gift ?ag ?g) !(retrieve-gift ?g) @@ -74,13 +74,13 @@ :derive-condition never :parameters (?a1 ?a2 - agent ?g - gift ?l - loc) :precondition (and [i, ?a1](get-gift-for ?a2) (bought-gift ?a1 ?g) (at ?a1 ?l) (at ?a2 ?l)) - :effect (and + :effect (and (when (likes-gift ?a2 ?g) (loves ?a2 ?a1)) (when (likes-gift ?a2 ?g) [b, ?a2](loves ?a2 ?a1)) (when (!likes-gift ?a2 ?g) (!loves ?a2 ?a1)) (when (!likes-gift ?a2 ?g) [b, ?a2](!loves ?a2 ?a1)) ) - + ) -) \ No newline at end of file +) diff --git a/bdi_extension/full-bdi/output_1.txt b/bdi_extension/full-bdi/output_1.txt index 509cbf7..14e06b0 100644 --- a/bdi_extension/full-bdi/output_1.txt +++ b/bdi_extension/full-bdi/output_1.txt @@ -7,34 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [0.240s CPU, 0.234s wall-clock] +Parsing: [0.210s CPU, 0.209s wall-clock] Normalizing task... [0.010s CPU, 0.007s wall-clock] Instantiating... -Generating Datalog program... [0.000s CPU, 0.003s wall-clock] +Generating Datalog program... [0.010s CPU, 0.009s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.010s CPU, 0.009s wall-clock] -Preparing model... [0.010s CPU, 0.010s wall-clock] -Generated 1587 rules. -Computing model... [0.000s CPU, 0.001s wall-clock] -1786 relevant atoms +Normalizing Datalog program: [0.010s CPU, 0.012s wall-clock] +Preparing model... [0.010s CPU, 0.015s wall-clock] +Generated 1864 rules. +Computing model... [0.000s CPU, 0.002s wall-clock] +1785 relevant atoms 0 auxiliary atoms -1786 final queue length -1993 total queue pushes -Completing instantiation... [0.010s CPU, 0.004s wall-clock] -Instantiating: [0.030s CPU, 0.029s wall-clock] +1785 final queue length +2083 total queue pushes +Completing instantiation... [0.000s CPU, 0.006s wall-clock] +Instantiating: [0.040s CPU, 0.046s wall-clock] Computing fact groups... Finding invariants... -199 initial candidates +183 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.100s CPU, 9.838s wall-clock] +Finding invariants: [10.080s CPU, 10.083s wall-clock] Checking invariant weight... [0.000s CPU, 0.000s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... -106 uncovered facts +105 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.100s CPU, 9.840s wall-clock] +Computing fact groups: [10.080s CPU, 10.084s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,93 +44,89 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.008s wall-clock] -42 effect conditions simplified +Translating task: [0.010s CPU, 0.009s wall-clock] +36 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -116 propositions removed +128 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -16 of 49 variables necessary. -2 of 3 mutex groups necessary. +15 of 42 variables necessary. +0 of 1 mutex groups necessary. 19 of 19 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] -Translator variables: 16 +Translator variables: 15 Translator derived variables: 0 -Translator facts: 33 +Translator facts: 31 Translator goal facts: 2 -Translator mutex groups: 2 -Translator total mutex groups size: 4 +Translator mutex groups: 0 +Translator total mutex groups size: 0 Translator operators: 19 Translator axioms: 0 -Translator task size: 185 -Translator peak memory: 210872 KB +Translator task size: 157 +Translator peak memory: 150456 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [10.390s CPU, 10.121s wall-clock] +Done! [10.360s CPU, 10.359s wall-clock] translate exit code: 0 INFO Running search (release). INFO search stdin: output.sas -INFO search time limit: None +INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009552s, 12120 KB] reading input... -[t=0.010437s, 12120 KB] done reading input! -[t=0.014788s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014854s, 12384 KB] Generating landmark graph... -[t=0.014879s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014895s, 12384 KB] Initializing Exploration... -[t=0.014933s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015043s, 12384 KB] Landmarks generation time: 0.000171s -[t=0.015080s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015099s, 12384 KB] 5 edges -[t=0.015110s, 12384 KB] approx. reasonable orders -[t=0.015138s, 12384 KB] Landmarks generation time: 0.000274s -[t=0.015166s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015185s, 12384 KB] 5 edges -[t=0.015196s, 12384 KB] Landmark graph generation time: 0.000352s -[t=0.015206s, 12384 KB] Landmark graph contains 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015218s, 12384 KB] Landmark graph contains 5 orderings. -[t=0.015270s, 12384 KB] Simplifying 52 unary operators... done! [44 unary operators] -[t=0.015330s, 12384 KB] time to simplify: 0.000080s -[t=0.015356s, 12384 KB] Initializing additive heuristic... -[t=0.015384s, 12384 KB] Initializing FF heuristic... -[t=0.015443s, 12384 KB] Building successor generator...done! -[t=0.015535s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015547s, 12384 KB] time for successor generation creation: 0.000012s -[t=0.015592s, 12384 KB] Variables: 16 -[t=0.015612s, 12384 KB] FactPairs: 33 -[t=0.015623s, 12384 KB] Bytes per state: 4 -[t=0.015647s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015689s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.015720s, 12520 KB] New best heuristic value for ff: 8 -[t=0.015739s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.015756s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 -[t=0.015766s, 12520 KB] Initial heuristic value for ff: 8 -[t=0.015784s, 12520 KB] New best heuristic value for ff: 7 -[t=0.015810s, 12520 KB] g=1, 2 evaluated, 1 expanded -[t=0.015839s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.015852s, 12520 KB] New best heuristic value for ff: 6 -[t=0.015863s, 12520 KB] g=2, 3 evaluated, 2 expanded -[t=0.015908s, 12520 KB] New best heuristic value for ff: 5 -[t=0.015943s, 12520 KB] g=3, 6 evaluated, 5 expanded -[t=0.015975s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.015988s, 12520 KB] g=4, 8 evaluated, 7 expanded -[t=0.016064s, 12520 KB] New best heuristic value for ff: 4 -[t=0.016098s, 12520 KB] g=8, 19 evaluated, 18 expanded -[t=0.016137s, 12520 KB] New best heuristic value for ff: 2 -[t=0.016166s, 12520 KB] g=10, 23 evaluated, 22 expanded -[t=0.016247s, 12520 KB] New best heuristic value for ff: 1 -[t=0.016267s, 12520 KB] g=11, 24 evaluated, 23 expanded -[t=0.016284s, 12520 KB] Solution found! -[t=0.016312s, 12520 KB] Actual search time: 0.000656s +[t=0.011763s, 12120 KB] reading input... +[t=0.012616s, 12120 KB] done reading input! +[t=0.018246s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018246s, 12384 KB] Generating landmark graph... +[t=0.018246s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018246s, 12384 KB] Initializing Exploration... +[t=0.018246s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018246s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018246s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018246s, 12384 KB] 5 edges +[t=0.018246s, 12384 KB] approx. reasonable orders +[t=0.018246s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018246s, 12384 KB] Discovered 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018246s, 12384 KB] 5 edges +[t=0.018246s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018246s, 12384 KB] Landmark graph contains 6 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018246s, 12384 KB] Landmark graph contains 5 orderings. +[t=0.018246s, 12384 KB] Simplifying 40 unary operators... done! [38 unary operators] +[t=0.018246s, 12384 KB] time to simplify: 0.000000s +[t=0.018246s, 12384 KB] Initializing additive heuristic... +[t=0.018246s, 12384 KB] Initializing FF heuristic... +[t=0.018246s, 12384 KB] Building successor generator...done! +[t=0.018246s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018246s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018246s, 12384 KB] Variables: 15 +[t=0.018246s, 12384 KB] FactPairs: 31 +[t=0.018246s, 12384 KB] Bytes per state: 4 +[t=0.018246s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018246s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018246s, 12520 KB] New best heuristic value for ff: 8 +[t=0.018246s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.018246s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 3 +[t=0.018246s, 12520 KB] Initial heuristic value for ff: 8 +[t=0.018246s, 12520 KB] New best heuristic value for ff: 7 +[t=0.018246s, 12520 KB] g=1, 2 evaluated, 1 expanded +[t=0.018246s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.018246s, 12520 KB] New best heuristic value for ff: 6 +[t=0.018246s, 12520 KB] g=2, 3 evaluated, 2 expanded +[t=0.018246s, 12520 KB] New best heuristic value for ff: 5 +[t=0.018246s, 12520 KB] g=3, 5 evaluated, 4 expanded +[t=0.018246s, 12520 KB] New best heuristic value for ff: 4 +[t=0.018246s, 12520 KB] g=6, 11 evaluated, 10 expanded +[t=0.018246s, 12520 KB] New best heuristic value for ff: 2 +[t=0.018246s, 12520 KB] g=8, 15 evaluated, 14 expanded +[t=0.018246s, 12520 KB] New best heuristic value for ff: 1 +[t=0.018246s, 12520 KB] g=9, 16 evaluated, 15 expanded +[t=0.018246s, 12520 KB] Solution found! +[t=0.018246s, 12520 KB] Actual search time: 0.000000s move_bob_l2_l1 (1) fall-in-love_alice_bob_l1 (1) -confess_alice_bob_l1 (1) -confess_alice_bob_l1 (1) move_alice_l1_l2 (1) move_alice_l2_l3 (1) move_bob_l1_l2 (1) @@ -139,22 +135,22 @@ get-gift_alice_chocolate_l3 (1) move_bob_l2_l3 (1) gift_alice_bob_chocolate_l3 (1) confess_alice_bob_l3 (1) -[t=0.016333s, 12520 KB] Plan length: 12 step(s). -[t=0.016333s, 12520 KB] Plan cost: 12 -[t=0.016333s, 12520 KB] Expanded 24 state(s). -[t=0.016333s, 12520 KB] Reopened 0 state(s). -[t=0.016333s, 12520 KB] Evaluated 25 state(s). -[t=0.016333s, 12520 KB] Evaluations: 50 -[t=0.016333s, 12520 KB] Generated 109 state(s). -[t=0.016333s, 12520 KB] Dead ends: 0 state(s). -[t=0.016333s, 12520 KB] Number of registered states: 25 -[t=0.016333s, 12520 KB] Int hash set load factor: 25/32 = 0.781250 -[t=0.016333s, 12520 KB] Int hash set resizes: 5 -[t=0.016333s, 12520 KB] Search time: 0.000686s -[t=0.016333s, 12520 KB] Total time: 0.016333s +[t=0.018246s, 12520 KB] Plan length: 10 step(s). +[t=0.018246s, 12520 KB] Plan cost: 10 +[t=0.018246s, 12520 KB] Expanded 16 state(s). +[t=0.018246s, 12520 KB] Reopened 0 state(s). +[t=0.018246s, 12520 KB] Evaluated 17 state(s). +[t=0.018246s, 12520 KB] Evaluations: 34 +[t=0.018246s, 12520 KB] Generated 73 state(s). +[t=0.018246s, 12520 KB] Dead ends: 0 state(s). +[t=0.018246s, 12520 KB] Number of registered states: 17 +[t=0.018246s, 12520 KB] Int hash set load factor: 17/32 = 0.531250 +[t=0.018246s, 12520 KB] Int hash set resizes: 5 +[t=0.018246s, 12520 KB] Search time: 0.000000s +[t=0.018246s, 12520 KB] Total time: 0.018246s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 10.64s +INFO Planner time: 10.65s diff --git a/bdi_extension/full-bdi/output_10.txt b/bdi_extension/full-bdi/output_10.txt index 73f1183..a9e3bf5 100644 --- a/bdi_extension/full-bdi/output_10.txt +++ b/bdi_extension/full-bdi/output_10.txt @@ -13,4 +13,4 @@ Got: [':agents', 'alice', 'bob', 'cindy', 'derek', 'evelyn'] translate exit code: 31 Driver aborting after translate -INFO Planner time: 0.87s +INFO Planner time: 0.29s diff --git a/bdi_extension/full-bdi/output_2.txt b/bdi_extension/full-bdi/output_2.txt index 6a10f20..46e412a 100644 --- a/bdi_extension/full-bdi/output_2.txt +++ b/bdi_extension/full-bdi/output_2.txt @@ -7,34 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [1.520s CPU, 1.482s wall-clock] -Normalizing task... [0.040s CPU, 0.037s wall-clock] +Parsing: [1.140s CPU, 1.135s wall-clock] +Normalizing task... [0.030s CPU, 0.033s wall-clock] Instantiating... -Generating Datalog program... [0.050s CPU, 0.046s wall-clock] +Generating Datalog program... [0.040s CPU, 0.043s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.040s CPU, 0.033s wall-clock] -Preparing model... [0.090s CPU, 0.089s wall-clock] -Generated 6526 rules. -Computing model... [0.010s CPU, 0.006s wall-clock] -6584 relevant atoms +Normalizing Datalog program: [0.060s CPU, 0.064s wall-clock] +Preparing model... [0.100s CPU, 0.097s wall-clock] +Generated 8060 rules. +Computing model... [0.010s CPU, 0.010s wall-clock] +6576 relevant atoms 0 auxiliary atoms -6584 final queue length -6922 total queue pushes -Completing instantiation... [0.010s CPU, 0.014s wall-clock] -Instantiating: [0.200s CPU, 0.194s wall-clock] +6576 final queue length +7570 total queue pushes +Completing instantiation... [0.020s CPU, 0.015s wall-clock] +Instantiating: [0.230s CPU, 0.234s wall-clock] Computing fact groups... Finding invariants... -603 initial candidates +573 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.070s CPU, 10.634s wall-clock] +Finding invariants: [10.070s CPU, 10.055s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... -299 uncovered facts +291 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] -Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.080s CPU, 10.637s wall-clock] +Building translation key... [0.000s CPU, 0.001s wall-clock] +Computing fact groups: [10.070s CPU, 10.058s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,101 +43,95 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.000s wall-clock] -Translating task: [0.010s CPU, 0.011s wall-clock] -152 effect conditions simplified +Processing axioms: [0.000s CPU, 0.001s wall-clock] +Translating task: [0.020s CPU, 0.018s wall-clock] +98 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -400 propositions removed +460 propositions removed Detecting unreachable propositions: [0.000s CPU, 0.002s wall-clock] Reordering and filtering variables... -18 of 99 variables necessary. +14 of 61 variables necessary. 0 of 0 mutex groups necessary. 24 of 26 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] -Translator variables: 18 +Translator variables: 14 Translator derived variables: 0 -Translator facts: 36 +Translator facts: 28 Translator goal facts: 1 Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 24 Translator axioms: 0 -Translator task size: 298 -Translator peak memory: 140728 KB -Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [11.850s CPU, 12.365s wall-clock] +Translator task size: 172 +Translator peak memory: 137656 KB +Writing output... [0.010s CPU, 0.000s wall-clock] +Done! [11.500s CPU, 11.483s wall-clock] translate exit code: 0 INFO Running search (release). INFO search stdin: output.sas -INFO search time limit: None +INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009812s, 12120 KB] reading input... -[t=0.010769s, 12120 KB] done reading input! -[t=0.015268s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015334s, 12384 KB] Generating landmark graph... -[t=0.015361s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015398s, 12384 KB] Initializing Exploration... -[t=0.015432s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015490s, 12384 KB] Landmarks generation time: 0.000116s -[t=0.015523s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015543s, 12384 KB] 1 edges -[t=0.015554s, 12384 KB] approx. reasonable orders -[t=0.015565s, 12384 KB] Landmarks generation time: 0.000218s -[t=0.015575s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015585s, 12384 KB] 1 edges -[t=0.015611s, 12384 KB] Landmark graph generation time: 0.000296s -[t=0.015633s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015660s, 12384 KB] Landmark graph contains 1 orderings. -[t=0.015710s, 12384 KB] Simplifying 99 unary operators... done! [54 unary operators] -[t=0.015786s, 12384 KB] time to simplify: 0.000098s -[t=0.015813s, 12384 KB] Initializing additive heuristic... -[t=0.015825s, 12384 KB] Initializing FF heuristic... -[t=0.015863s, 12384 KB] Building successor generator...done! -[t=0.015933s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015945s, 12384 KB] time for successor generation creation: 0.000013s -[t=0.015974s, 12384 KB] Variables: 18 -[t=0.016009s, 12384 KB] FactPairs: 36 -[t=0.016028s, 12384 KB] Bytes per state: 4 -[t=0.016071s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016119s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.016151s, 12516 KB] New best heuristic value for ff: 4 -[t=0.016185s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.016225s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 1 -[t=0.016259s, 12516 KB] Initial heuristic value for ff: 4 -[t=0.016299s, 12516 KB] New best heuristic value for ff: 3 -[t=0.016333s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.016376s, 12516 KB] New best heuristic value for ff: 2 -[t=0.016410s, 12516 KB] g=2, 3 evaluated, 2 expanded -[t=0.016457s, 12516 KB] New best heuristic value for ff: 1 -[t=0.016492s, 12516 KB] g=3, 5 evaluated, 4 expanded -[t=0.016539s, 12516 KB] Solution found! -[t=0.016573s, 12516 KB] Actual search time: 0.000485s -move_cindy_l2_l1 (1) -move_bob_l2_l1 (1) -fall-in-love_alice_bob_l1 (1) -fall-in-love_cindy_bob_l1 (1) -[t=0.016608s, 12516 KB] Plan length: 4 step(s). -[t=0.016608s, 12516 KB] Plan cost: 4 -[t=0.016608s, 12516 KB] Expanded 6 state(s). -[t=0.016608s, 12516 KB] Reopened 0 state(s). -[t=0.016608s, 12516 KB] Evaluated 7 state(s). -[t=0.016608s, 12516 KB] Evaluations: 14 -[t=0.016608s, 12516 KB] Generated 34 state(s). -[t=0.016608s, 12516 KB] Dead ends: 0 state(s). -[t=0.016608s, 12516 KB] Number of registered states: 7 -[t=0.016608s, 12516 KB] Int hash set load factor: 7/8 = 0.875000 -[t=0.016608s, 12516 KB] Int hash set resizes: 3 -[t=0.016608s, 12516 KB] Search time: 0.000537s -[t=0.016608s, 12516 KB] Total time: 0.016608s +[t=0.010719s, 12120 KB] reading input... +[t=0.011564s, 12120 KB] done reading input! +[t=0.016916s, 12384 KB] Initializing landmark sum heuristic... +[t=0.016916s, 12384 KB] Generating landmark graph... +[t=0.016916s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.016916s, 12384 KB] Initializing Exploration... +[t=0.016916s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.016916s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.016916s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016916s, 12384 KB] 1 edges +[t=0.016916s, 12384 KB] approx. reasonable orders +[t=0.016916s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.016916s, 12384 KB] Discovered 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016916s, 12384 KB] 1 edges +[t=0.016916s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.016916s, 12384 KB] Landmark graph contains 2 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.016916s, 12384 KB] Landmark graph contains 1 orderings. +[t=0.016916s, 12384 KB] Simplifying 42 unary operators... done! [39 unary operators] +[t=0.016916s, 12384 KB] time to simplify: 0.000000s +[t=0.016916s, 12384 KB] Initializing additive heuristic... +[t=0.016916s, 12384 KB] Initializing FF heuristic... +[t=0.016916s, 12384 KB] Building successor generator...done! +[t=0.016916s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.016916s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.016916s, 12384 KB] Variables: 14 +[t=0.016916s, 12384 KB] FactPairs: 28 +[t=0.016916s, 12384 KB] Bytes per state: 4 +[t=0.016916s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.016916s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.016916s, 12520 KB] New best heuristic value for ff: 2 +[t=0.016916s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.016916s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 1 +[t=0.016916s, 12520 KB] Initial heuristic value for ff: 2 +[t=0.016916s, 12520 KB] New best heuristic value for ff: 1 +[t=0.016916s, 12520 KB] g=1, 3 evaluated, 2 expanded +[t=0.016916s, 12520 KB] Solution found! +[t=0.016916s, 12520 KB] Actual search time: 0.000000s +move_alice_l1_l2 (1) +fall-in-love_cindy_bob_l2 (1) +[t=0.016916s, 12520 KB] Plan length: 2 step(s). +[t=0.016916s, 12520 KB] Plan cost: 2 +[t=0.016916s, 12520 KB] Expanded 3 state(s). +[t=0.016916s, 12520 KB] Reopened 0 state(s). +[t=0.016916s, 12520 KB] Evaluated 4 state(s). +[t=0.016916s, 12520 KB] Evaluations: 8 +[t=0.016916s, 12520 KB] Generated 18 state(s). +[t=0.016916s, 12520 KB] Dead ends: 0 state(s). +[t=0.016916s, 12520 KB] Number of registered states: 4 +[t=0.016916s, 12520 KB] Int hash set load factor: 4/4 = 1.000000 +[t=0.016916s, 12520 KB] Int hash set resizes: 2 +[t=0.016916s, 12520 KB] Search time: 0.000000s +[t=0.016916s, 12520 KB] Total time: 0.016916s Solution found. -Peak memory: 12516 KB +Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 12.12s +INFO Planner time: 11.79s diff --git a/bdi_extension/full-bdi/output_3.txt b/bdi_extension/full-bdi/output_3.txt index 9a80275..caa46b6 100644 --- a/bdi_extension/full-bdi/output_3.txt +++ b/bdi_extension/full-bdi/output_3.txt @@ -7,34 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [1.490s CPU, 1.452s wall-clock] -Normalizing task... [0.030s CPU, 0.035s wall-clock] +Parsing: [1.140s CPU, 1.143s wall-clock] +Normalizing task... [0.030s CPU, 0.031s wall-clock] Instantiating... -Generating Datalog program... [0.040s CPU, 0.039s wall-clock] +Generating Datalog program... [0.040s CPU, 0.040s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.030s CPU, 0.031s wall-clock] -Preparing model... [0.080s CPU, 0.078s wall-clock] -Generated 6526 rules. -Computing model... [0.010s CPU, 0.007s wall-clock] -6636 relevant atoms +Normalizing Datalog program: [0.060s CPU, 0.063s wall-clock] +Preparing model... [0.090s CPU, 0.093s wall-clock] +Generated 8062 rules. +Computing model... [0.020s CPU, 0.011s wall-clock] +6601 relevant atoms 0 auxiliary atoms -6636 final queue length -7382 total queue pushes -Completing instantiation... [0.020s CPU, 0.022s wall-clock] -Instantiating: [0.190s CPU, 0.182s wall-clock] +6601 final queue length +8222 total queue pushes +Completing instantiation... [0.020s CPU, 0.024s wall-clock] +Instantiating: [0.240s CPU, 0.237s wall-clock] Computing fact groups... Finding invariants... -603 initial candidates +573 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.070s CPU, 10.647s wall-clock] +Finding invariants: [10.070s CPU, 10.064s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... -340 uncovered facts +307 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.080s CPU, 10.650s wall-clock] +Computing fact groups: [10.070s CPU, 10.068s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,113 +44,113 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.020s CPU, 0.025s wall-clock] -204 effect conditions simplified +Translating task: [0.160s CPU, 0.161s wall-clock] +134 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -344 propositions removed +434 propositions removed Detecting unreachable propositions: [0.010s CPU, 0.003s wall-clock] Reordering and filtering variables... -13 of 169 variables necessary. -1 of 2 mutex groups necessary. +13 of 90 variables necessary. +0 of 0 mutex groups necessary. 16 of 34 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.002s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] Translator variables: 13 Translator derived variables: 0 -Translator facts: 27 +Translator facts: 26 Translator goal facts: 1 -Translator mutex groups: 1 -Translator total mutex groups size: 2 +Translator mutex groups: 0 +Translator total mutex groups size: 0 Translator operators: 16 Translator axioms: 0 -Translator task size: 122 -Translator peak memory: 140728 KB +Translator task size: 117 +Translator peak memory: 138680 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [11.820s CPU, 12.351s wall-clock] +Done! [11.650s CPU, 11.646s wall-clock] translate exit code: 0 INFO Running search (release). INFO search stdin: output.sas -INFO search time limit: None +INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009680s, 12120 KB] reading input... -[t=0.010507s, 12120 KB] done reading input! -[t=0.015107s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015170s, 12384 KB] Generating landmark graph... -[t=0.015193s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015207s, 12384 KB] Initializing Exploration... -[t=0.015224s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015336s, 12384 KB] Landmarks generation time: 0.000150s -[t=0.015373s, 12384 KB] Discovered 16 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015393s, 12384 KB] 24 edges -[t=0.015404s, 12384 KB] approx. reasonable orders -[t=0.015457s, 12384 KB] Landmarks generation time: 0.000277s -[t=0.015485s, 12384 KB] Discovered 16 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015504s, 12384 KB] 26 edges -[t=0.015515s, 12384 KB] Landmark graph generation time: 0.000355s -[t=0.015525s, 12384 KB] Landmark graph contains 16 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015550s, 12384 KB] Landmark graph contains 26 orderings. -[t=0.015608s, 12384 KB] Simplifying 31 unary operators... done! [29 unary operators] -[t=0.015642s, 12384 KB] time to simplify: 0.000047s -[t=0.015673s, 12384 KB] Initializing additive heuristic... -[t=0.015692s, 12384 KB] Initializing FF heuristic... -[t=0.015726s, 12384 KB] Building successor generator...done! -[t=0.015791s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015802s, 12384 KB] time for successor generation creation: 0.000010s -[t=0.015828s, 12384 KB] Variables: 13 -[t=0.015848s, 12384 KB] FactPairs: 27 -[t=0.015874s, 12384 KB] Bytes per state: 4 -[t=0.015920s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015981s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.016001s, 12516 KB] New best heuristic value for ff: 5 -[t=0.016028s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.016067s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 7 -[t=0.016085s, 12516 KB] Initial heuristic value for ff: 5 -[t=0.016108s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.016136s, 12516 KB] g=1, 3 evaluated, 2 expanded -[t=0.016178s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.016212s, 12516 KB] New best heuristic value for ff: 4 -[t=0.016245s, 12516 KB] g=1, 4 evaluated, 3 expanded -[t=0.016288s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.016322s, 12516 KB] g=2, 5 evaluated, 4 expanded -[t=0.016364s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.016398s, 12516 KB] New best heuristic value for ff: 3 -[t=0.016431s, 12516 KB] g=2, 6 evaluated, 5 expanded -[t=0.016474s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.016507s, 12516 KB] g=3, 7 evaluated, 6 expanded -[t=0.016568s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.016638s, 12516 KB] New best heuristic value for ff: 2 -[t=0.016687s, 12516 KB] g=4, 8 evaluated, 7 expanded -[t=0.016728s, 12516 KB] New best heuristic value for ff: 1 -[t=0.016762s, 12516 KB] g=5, 9 evaluated, 8 expanded -[t=0.016802s, 12516 KB] Solution found! -[t=0.016836s, 12516 KB] Actual search time: 0.000886s +[t=0.011664s, 12120 KB] reading input... +[t=0.013011s, 12120 KB] done reading input! +[t=0.017332s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017332s, 12384 KB] Generating landmark graph... +[t=0.017332s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017332s, 12384 KB] Initializing Exploration... +[t=0.017332s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017332s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017332s, 12384 KB] Discovered 16 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017332s, 12384 KB] 24 edges +[t=0.017332s, 12384 KB] approx. reasonable orders +[t=0.017332s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017332s, 12384 KB] Discovered 16 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017332s, 12384 KB] 26 edges +[t=0.017332s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017332s, 12384 KB] Landmark graph contains 16 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017332s, 12384 KB] Landmark graph contains 26 orderings. +[t=0.017332s, 12384 KB] Simplifying 30 unary operators... done! [28 unary operators] +[t=0.017332s, 12384 KB] time to simplify: 0.000000s +[t=0.017332s, 12384 KB] Initializing additive heuristic... +[t=0.017332s, 12384 KB] Initializing FF heuristic... +[t=0.017332s, 12384 KB] Building successor generator...done! +[t=0.017332s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017332s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017332s, 12384 KB] Variables: 13 +[t=0.017332s, 12384 KB] FactPairs: 26 +[t=0.017332s, 12384 KB] Bytes per state: 4 +[t=0.017332s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017332s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 +[t=0.017332s, 12516 KB] New best heuristic value for ff: 5 +[t=0.017332s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.017332s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 7 +[t=0.017332s, 12516 KB] Initial heuristic value for ff: 5 +[t=0.017332s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.017332s, 12516 KB] g=1, 3 evaluated, 2 expanded +[t=0.017332s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.017332s, 12516 KB] New best heuristic value for ff: 4 +[t=0.017332s, 12516 KB] g=1, 4 evaluated, 3 expanded +[t=0.017332s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.017332s, 12516 KB] g=2, 5 evaluated, 4 expanded +[t=0.017332s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.017332s, 12516 KB] New best heuristic value for ff: 3 +[t=0.017332s, 12516 KB] g=2, 6 evaluated, 5 expanded +[t=0.017332s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.017332s, 12516 KB] g=3, 7 evaluated, 6 expanded +[t=0.017332s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.017332s, 12516 KB] New best heuristic value for ff: 2 +[t=0.017332s, 12516 KB] g=4, 8 evaluated, 7 expanded +[t=0.017332s, 12516 KB] New best heuristic value for ff: 1 +[t=0.017332s, 12516 KB] g=5, 9 evaluated, 8 expanded +[t=0.017332s, 12516 KB] Solution found! +[t=0.017332s, 12516 KB] Actual search time: 0.000000s fall-in-love_cindy_bob_l2 (1) intend-get-gift_cindy_bob (1) move_cindy_l2_l3 (1) get-gift_cindy_chocolate_l3 (1) move_cindy_l3_l2 (1) gift_cindy_bob_chocolate_l2 (1) -[t=0.016871s, 12516 KB] Plan length: 6 step(s). -[t=0.016871s, 12516 KB] Plan cost: 6 -[t=0.016871s, 12516 KB] Expanded 9 state(s). -[t=0.016871s, 12516 KB] Reopened 0 state(s). -[t=0.016871s, 12516 KB] Evaluated 10 state(s). -[t=0.016871s, 12516 KB] Evaluations: 20 -[t=0.016871s, 12516 KB] Generated 43 state(s). -[t=0.016871s, 12516 KB] Dead ends: 0 state(s). -[t=0.016871s, 12516 KB] Number of registered states: 10 -[t=0.016871s, 12516 KB] Int hash set load factor: 10/16 = 0.625000 -[t=0.016871s, 12516 KB] Int hash set resizes: 4 -[t=0.016871s, 12516 KB] Search time: 0.000951s -[t=0.016871s, 12516 KB] Total time: 0.016871s +[t=0.017332s, 12516 KB] Plan length: 6 step(s). +[t=0.017332s, 12516 KB] Plan cost: 6 +[t=0.017332s, 12516 KB] Expanded 9 state(s). +[t=0.017332s, 12516 KB] Reopened 0 state(s). +[t=0.017332s, 12516 KB] Evaluated 10 state(s). +[t=0.017332s, 12516 KB] Evaluations: 20 +[t=0.017332s, 12516 KB] Generated 43 state(s). +[t=0.017332s, 12516 KB] Dead ends: 0 state(s). +[t=0.017332s, 12516 KB] Number of registered states: 10 +[t=0.017332s, 12516 KB] Int hash set load factor: 10/16 = 0.625000 +[t=0.017332s, 12516 KB] Int hash set resizes: 4 +[t=0.017332s, 12516 KB] Search time: 0.000000s +[t=0.017332s, 12516 KB] Total time: 0.017332s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 12.11s +INFO Planner time: 11.96s diff --git a/bdi_extension/full-bdi/output_4.txt b/bdi_extension/full-bdi/output_4.txt index 0d2988d..13a1387 100644 --- a/bdi_extension/full-bdi/output_4.txt +++ b/bdi_extension/full-bdi/output_4.txt @@ -7,34 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [1.520s CPU, 1.478s wall-clock] -Normalizing task... [0.030s CPU, 0.034s wall-clock] +Parsing: [1.140s CPU, 1.146s wall-clock] +Normalizing task... [0.040s CPU, 0.033s wall-clock] Instantiating... -Generating Datalog program... [0.040s CPU, 0.038s wall-clock] +Generating Datalog program... [0.040s CPU, 0.044s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.030s CPU, 0.031s wall-clock] -Preparing model... [0.080s CPU, 0.074s wall-clock] -Generated 6526 rules. -Computing model... [0.000s CPU, 0.006s wall-clock] -6592 relevant atoms +Normalizing Datalog program: [0.070s CPU, 0.072s wall-clock] +Preparing model... [0.100s CPU, 0.103s wall-clock] +Generated 8059 rules. +Computing model... [0.010s CPU, 0.010s wall-clock] +6585 relevant atoms 0 auxiliary atoms -6592 final queue length -6931 total queue pushes -Completing instantiation... [0.010s CPU, 0.014s wall-clock] -Instantiating: [0.170s CPU, 0.167s wall-clock] +6585 final queue length +7582 total queue pushes +Completing instantiation... [0.010s CPU, 0.015s wall-clock] +Instantiating: [0.250s CPU, 0.251s wall-clock] Computing fact groups... Finding invariants... -603 initial candidates +573 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.080s CPU, 9.797s wall-clock] +Finding invariants: [10.070s CPU, 10.094s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... -301 uncovered facts +296 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.080s CPU, 9.800s wall-clock] +Computing fact groups: [10.070s CPU, 10.097s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -44,91 +44,91 @@ Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.010s CPU, 0.011s wall-clock] -164 effect conditions simplified +Translating task: [0.020s CPU, 0.019s wall-clock] +112 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -390 propositions removed -Detecting unreachable propositions: [0.000s CPU, 0.002s wall-clock] +450 propositions removed +Detecting unreachable propositions: [0.000s CPU, 0.001s wall-clock] Reordering and filtering variables... -17 of 107 variables necessary. -0 of 1 mutex groups necessary. +17 of 71 variables necessary. +0 of 0 mutex groups necessary. 21 of 30 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.010s CPU, 0.001s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] Translator variables: 17 Translator derived variables: 0 -Translator facts: 35 +Translator facts: 34 Translator goal facts: 2 Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 21 Translator axioms: 0 -Translator task size: 149 -Translator peak memory: 140728 KB +Translator task size: 146 +Translator peak memory: 138680 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [11.820s CPU, 11.495s wall-clock] +Done! [11.520s CPU, 11.550s wall-clock] translate exit code: 0 INFO Running search (release). INFO search stdin: output.sas -INFO search time limit: None +INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009715s, 12120 KB] reading input... -[t=0.010569s, 12120 KB] done reading input! -[t=0.015050s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015119s, 12384 KB] Generating landmark graph... -[t=0.015162s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015204s, 12384 KB] Initializing Exploration... -[t=0.015247s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015392s, 12384 KB] Landmarks generation time: 0.000214s -[t=0.015432s, 12384 KB] Discovered 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015453s, 12384 KB] 18 edges -[t=0.015464s, 12384 KB] approx. reasonable orders -[t=0.015508s, 12384 KB] Landmarks generation time: 0.000362s -[t=0.015537s, 12384 KB] Discovered 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015557s, 12384 KB] 20 edges -[t=0.015569s, 12384 KB] Landmark graph generation time: 0.000460s -[t=0.015580s, 12384 KB] Landmark graph contains 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015606s, 12384 KB] Landmark graph contains 20 orderings. -[t=0.015671s, 12384 KB] Simplifying 42 unary operators... done! [39 unary operators] -[t=0.015740s, 12384 KB] time to simplify: 0.000090s -[t=0.015783s, 12384 KB] Initializing additive heuristic... -[t=0.015830s, 12384 KB] Initializing FF heuristic... -[t=0.015891s, 12384 KB] Building successor generator...done! -[t=0.015984s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015997s, 12384 KB] time for successor generation creation: 0.000011s -[t=0.016008s, 12384 KB] Variables: 17 -[t=0.016020s, 12384 KB] FactPairs: 35 -[t=0.016047s, 12384 KB] Bytes per state: 4 -[t=0.016083s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016144s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 8 -[t=0.016166s, 12520 KB] New best heuristic value for ff: 7 -[t=0.016195s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.016221s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 8 -[t=0.016233s, 12520 KB] Initial heuristic value for ff: 7 -[t=0.016257s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.016286s, 12520 KB] New best heuristic value for ff: 6 -[t=0.016306s, 12520 KB] g=1, 3 evaluated, 2 expanded -[t=0.016328s, 12520 KB] New best heuristic value for ff: 5 -[t=0.016357s, 12520 KB] g=2, 4 evaluated, 3 expanded -[t=0.016403s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.016423s, 12520 KB] New best heuristic value for ff: 4 -[t=0.016434s, 12520 KB] g=3, 5 evaluated, 4 expanded -[t=0.016454s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.016482s, 12520 KB] New best heuristic value for ff: 3 -[t=0.016502s, 12520 KB] g=4, 6 evaluated, 5 expanded -[t=0.016524s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.016553s, 12520 KB] New best heuristic value for ff: 2 -[t=0.016573s, 12520 KB] g=5, 7 evaluated, 6 expanded -[t=0.016610s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.016630s, 12520 KB] New best heuristic value for ff: 1 -[t=0.016641s, 12520 KB] g=6, 8 evaluated, 7 expanded -[t=0.016658s, 12520 KB] Solution found! -[t=0.016687s, 12520 KB] Actual search time: 0.000577s +[t=0.011678s, 12120 KB] reading input... +[t=0.012524s, 12120 KB] done reading input! +[t=0.017323s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017323s, 12384 KB] Generating landmark graph... +[t=0.017323s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017323s, 12384 KB] Initializing Exploration... +[t=0.017323s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018631s, 12384 KB] Landmarks generation time: 0.001307s +[t=0.018631s, 12384 KB] Discovered 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018631s, 12384 KB] 18 edges +[t=0.018631s, 12384 KB] approx. reasonable orders +[t=0.018631s, 12384 KB] Landmarks generation time: 0.001307s +[t=0.018631s, 12384 KB] Discovered 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018631s, 12384 KB] 20 edges +[t=0.018631s, 12384 KB] Landmark graph generation time: 0.001307s +[t=0.018631s, 12384 KB] Landmark graph contains 18 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018631s, 12384 KB] Landmark graph contains 20 orderings. +[t=0.018631s, 12384 KB] Simplifying 41 unary operators... done! [38 unary operators] +[t=0.018631s, 12384 KB] time to simplify: 0.000000s +[t=0.018631s, 12384 KB] Initializing additive heuristic... +[t=0.018631s, 12384 KB] Initializing FF heuristic... +[t=0.018631s, 12384 KB] Building successor generator...done! +[t=0.018631s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018631s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018631s, 12384 KB] Variables: 17 +[t=0.018631s, 12384 KB] FactPairs: 34 +[t=0.018631s, 12384 KB] Bytes per state: 4 +[t=0.018631s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018631s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 8 +[t=0.018631s, 12520 KB] New best heuristic value for ff: 7 +[t=0.018631s, 12520 KB] g=0, 1 evaluated, 0 expanded +[t=0.018631s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 8 +[t=0.018631s, 12520 KB] Initial heuristic value for ff: 7 +[t=0.018631s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.018631s, 12520 KB] New best heuristic value for ff: 6 +[t=0.018631s, 12520 KB] g=1, 3 evaluated, 2 expanded +[t=0.018631s, 12520 KB] New best heuristic value for ff: 5 +[t=0.018631s, 12520 KB] g=2, 4 evaluated, 3 expanded +[t=0.018631s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.018631s, 12520 KB] New best heuristic value for ff: 4 +[t=0.018631s, 12520 KB] g=3, 5 evaluated, 4 expanded +[t=0.018631s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018631s, 12520 KB] New best heuristic value for ff: 3 +[t=0.018631s, 12520 KB] g=4, 6 evaluated, 5 expanded +[t=0.018631s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.018631s, 12520 KB] New best heuristic value for ff: 2 +[t=0.018631s, 12520 KB] g=5, 7 evaluated, 6 expanded +[t=0.018631s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018631s, 12520 KB] New best heuristic value for ff: 1 +[t=0.018631s, 12520 KB] g=6, 8 evaluated, 7 expanded +[t=0.018631s, 12520 KB] Solution found! +[t=0.018631s, 12520 KB] Actual search time: 0.000000s fall-in-love_cindy_bob_l2 (1) move_bob_l2_l1 (1) fall-in-love_alice_bob_l1 (1) @@ -136,22 +136,22 @@ intend-get-gift_cindy_bob (1) move_alice_l1_l2 (1) intend-get-gift_alice_bob (1) get-gift_alice_chocolate_l2 (1) -[t=0.016708s, 12520 KB] Plan length: 7 step(s). -[t=0.016708s, 12520 KB] Plan cost: 7 -[t=0.016708s, 12520 KB] Expanded 8 state(s). -[t=0.016708s, 12520 KB] Reopened 0 state(s). -[t=0.016708s, 12520 KB] Evaluated 9 state(s). -[t=0.016708s, 12520 KB] Evaluations: 18 -[t=0.016708s, 12520 KB] Generated 52 state(s). -[t=0.016708s, 12520 KB] Dead ends: 0 state(s). -[t=0.016708s, 12520 KB] Number of registered states: 9 -[t=0.016708s, 12520 KB] Int hash set load factor: 9/16 = 0.562500 -[t=0.016708s, 12520 KB] Int hash set resizes: 4 -[t=0.016708s, 12520 KB] Search time: 0.000626s -[t=0.016708s, 12520 KB] Total time: 0.016708s +[t=0.018631s, 12520 KB] Plan length: 7 step(s). +[t=0.018631s, 12520 KB] Plan cost: 7 +[t=0.018631s, 12520 KB] Expanded 8 state(s). +[t=0.018631s, 12520 KB] Reopened 0 state(s). +[t=0.018631s, 12520 KB] Evaluated 9 state(s). +[t=0.018631s, 12520 KB] Evaluations: 18 +[t=0.018631s, 12520 KB] Generated 52 state(s). +[t=0.018631s, 12520 KB] Dead ends: 0 state(s). +[t=0.018631s, 12520 KB] Number of registered states: 9 +[t=0.018631s, 12520 KB] Int hash set load factor: 9/16 = 0.562500 +[t=0.018631s, 12520 KB] Int hash set resizes: 4 +[t=0.018631s, 12520 KB] Search time: 0.000000s +[t=0.018631s, 12520 KB] Total time: 0.018631s Solution found. Peak memory: 12520 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 12.08s +INFO Planner time: 11.84s diff --git a/bdi_extension/full-bdi/output_5.txt b/bdi_extension/full-bdi/output_5.txt index 43e023b..2b87bfc 100644 --- a/bdi_extension/full-bdi/output_5.txt +++ b/bdi_extension/full-bdi/output_5.txt @@ -7,34 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [1.520s CPU, 1.478s wall-clock] -Normalizing task... [0.030s CPU, 0.035s wall-clock] +Parsing: [1.230s CPU, 1.218s wall-clock] +Normalizing task... [0.060s CPU, 0.058s wall-clock] Instantiating... -Generating Datalog program... [0.040s CPU, 0.037s wall-clock] +Generating Datalog program... [0.020s CPU, 0.020s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.060s CPU, 0.055s wall-clock] -Preparing model... [0.090s CPU, 0.089s wall-clock] -Generated 6814 rules. -Computing model... [0.010s CPU, 0.008s wall-clock] -8028 relevant atoms +Normalizing Datalog program: [0.060s CPU, 0.066s wall-clock] +Preparing model... [0.110s CPU, 0.107s wall-clock] +Generated 8377 rules. +Computing model... [0.020s CPU, 0.019s wall-clock] +7991 relevant atoms 0 auxiliary atoms -8028 final queue length -8877 total queue pushes -Completing instantiation... [0.030s CPU, 0.023s wall-clock] -Instantiating: [0.230s CPU, 0.217s wall-clock] +7991 final queue length +9669 total queue pushes +Completing instantiation... [0.030s CPU, 0.028s wall-clock] +Instantiating: [0.250s CPU, 0.250s wall-clock] Computing fact groups... Finding invariants... -624 initial candidates +591 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.070s CPU, 9.813s wall-clock] -Checking invariant weight... [0.010s CPU, 0.001s wall-clock] +Finding invariants: [10.070s CPU, 10.057s wall-clock] +Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... -362 uncovered facts +327 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] -Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.080s CPU, 9.816s wall-clock] +Building translation key... [0.000s CPU, 0.001s wall-clock] +Computing fact groups: [10.070s CPU, 10.061s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,114 +43,114 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.030s CPU, 0.032s wall-clock] -206 effect conditions simplified +Processing axioms: [0.000s CPU, 0.002s wall-clock] +Translating task: [0.160s CPU, 0.161s wall-clock] +133 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -350 propositions removed -Detecting unreachable propositions: [0.040s CPU, 0.045s wall-clock] +438 propositions removed +Detecting unreachable propositions: [0.010s CPU, 0.003s wall-clock] Reordering and filtering variables... -24 of 188 variables necessary. -0 of 1 mutex groups necessary. +24 of 108 variables necessary. +0 of 0 mutex groups necessary. 31 of 38 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.010s CPU, 0.002s wall-clock] +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] Translator variables: 24 Translator derived variables: 0 -Translator facts: 49 +Translator facts: 48 Translator goal facts: 4 Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 31 Translator axioms: 0 -Translator task size: 235 -Translator peak memory: 142776 KB +Translator task size: 232 +Translator peak memory: 140728 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [11.940s CPU, 11.627s wall-clock] +Done! [11.780s CPU, 11.754s wall-clock] translate exit code: 0 INFO Running search (release). INFO search stdin: output.sas -INFO search time limit: None +INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.010052s, 12120 KB] reading input... -[t=0.010952s, 12120 KB] done reading input! -[t=0.015549s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015632s, 12384 KB] Generating landmark graph... -[t=0.015675s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015716s, 12384 KB] Initializing Exploration... -[t=0.015773s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.016072s, 12384 KB] Landmarks generation time: 0.000382s -[t=0.016112s, 12384 KB] Discovered 34 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016147s, 12384 KB] 56 edges -[t=0.016181s, 12384 KB] approx. reasonable orders -[t=0.016340s, 12384 KB] Landmarks generation time: 0.000691s -[t=0.016378s, 12384 KB] Discovered 34 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016413s, 12384 KB] 60 edges -[t=0.016446s, 12384 KB] Landmark graph generation time: 0.000834s -[t=0.016482s, 12384 KB] Landmark graph contains 34 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016516s, 12384 KB] Landmark graph contains 60 orderings. -[t=0.016585s, 12384 KB] Simplifying 56 unary operators... done! [53 unary operators] -[t=0.016657s, 12384 KB] time to simplify: 0.000092s -[t=0.016698s, 12384 KB] Initializing additive heuristic... -[t=0.016732s, 12384 KB] Initializing FF heuristic... -[t=0.016804s, 12384 KB] Building successor generator...done! -[t=0.016901s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.016928s, 12384 KB] time for successor generation creation: 0.000016s -[t=0.016964s, 12384 KB] Variables: 24 -[t=0.016998s, 12384 KB] FactPairs: 49 -[t=0.017032s, 12384 KB] Bytes per state: 4 -[t=0.017082s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.017150s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 15 -[t=0.017188s, 12516 KB] New best heuristic value for ff: 12 -[t=0.017223s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.017264s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 15 -[t=0.017297s, 12516 KB] Initial heuristic value for ff: 12 -[t=0.017349s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 14 -[t=0.017383s, 12516 KB] g=1, 3 evaluated, 2 expanded -[t=0.017429s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 13 -[t=0.017463s, 12516 KB] New best heuristic value for ff: 11 -[t=0.017496s, 12516 KB] g=1, 4 evaluated, 3 expanded -[t=0.017542s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 12 -[t=0.017576s, 12516 KB] g=2, 5 evaluated, 4 expanded -[t=0.017633s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 11 -[t=0.017667s, 12516 KB] New best heuristic value for ff: 10 -[t=0.017700s, 12516 KB] g=2, 8 evaluated, 7 expanded -[t=0.017747s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 10 -[t=0.017781s, 12516 KB] g=3, 9 evaluated, 8 expanded -[t=0.017833s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 9 -[t=0.017869s, 12516 KB] New best heuristic value for ff: 9 -[t=0.017903s, 12516 KB] g=4, 11 evaluated, 10 expanded -[t=0.017947s, 12516 KB] New best heuristic value for ff: 8 -[t=0.017981s, 12516 KB] g=5, 12 evaluated, 11 expanded -[t=0.018025s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 8 -[t=0.018059s, 12516 KB] New best heuristic value for ff: 7 -[t=0.018093s, 12516 KB] g=6, 13 evaluated, 12 expanded -[t=0.018138s, 12516 KB] New best heuristic value for ff: 6 -[t=0.018171s, 12516 KB] g=7, 14 evaluated, 13 expanded -[t=0.018215s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.018249s, 12516 KB] New best heuristic value for ff: 5 -[t=0.018291s, 12516 KB] g=8, 15 evaluated, 14 expanded -[t=0.018336s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.018371s, 12516 KB] g=9, 16 evaluated, 15 expanded -[t=0.018417s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.018451s, 12516 KB] New best heuristic value for ff: 4 -[t=0.018484s, 12516 KB] g=9, 17 evaluated, 16 expanded -[t=0.018529s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.018563s, 12516 KB] g=10, 18 evaluated, 17 expanded -[t=0.018607s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.018641s, 12516 KB] g=11, 19 evaluated, 18 expanded -[t=0.018685s, 12516 KB] New best heuristic value for ff: 2 -[t=0.018719s, 12516 KB] g=12, 20 evaluated, 19 expanded -[t=0.018764s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.018798s, 12516 KB] New best heuristic value for ff: 1 -[t=0.018832s, 12516 KB] g=13, 21 evaluated, 20 expanded -[t=0.018876s, 12516 KB] Solution found! -[t=0.018911s, 12516 KB] Actual search time: 0.001794s +[t=0.011718s, 12120 KB] reading input... +[t=0.013353s, 12120 KB] done reading input! +[t=0.017423s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017423s, 12384 KB] Generating landmark graph... +[t=0.017423s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017423s, 12384 KB] Initializing Exploration... +[t=0.017423s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017423s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017423s, 12384 KB] Discovered 34 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017423s, 12384 KB] 56 edges +[t=0.017423s, 12384 KB] approx. reasonable orders +[t=0.017423s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017423s, 12384 KB] Discovered 34 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017423s, 12384 KB] 60 edges +[t=0.017423s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017423s, 12384 KB] Landmark graph contains 34 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017423s, 12384 KB] Landmark graph contains 60 orderings. +[t=0.017423s, 12384 KB] Simplifying 55 unary operators... done! [52 unary operators] +[t=0.017423s, 12384 KB] time to simplify: 0.000000s +[t=0.017423s, 12384 KB] Initializing additive heuristic... +[t=0.017423s, 12384 KB] Initializing FF heuristic... +[t=0.017423s, 12384 KB] Building successor generator...done! +[t=0.017423s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017423s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017423s, 12384 KB] Variables: 24 +[t=0.017423s, 12384 KB] FactPairs: 48 +[t=0.017423s, 12384 KB] Bytes per state: 4 +[t=0.017423s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 15 +[t=0.017423s, 12516 KB] New best heuristic value for ff: 12 +[t=0.017423s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.017423s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 15 +[t=0.017423s, 12516 KB] Initial heuristic value for ff: 12 +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 14 +[t=0.017423s, 12516 KB] g=1, 3 evaluated, 2 expanded +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 13 +[t=0.017423s, 12516 KB] New best heuristic value for ff: 11 +[t=0.017423s, 12516 KB] g=1, 4 evaluated, 3 expanded +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 12 +[t=0.017423s, 12516 KB] g=2, 5 evaluated, 4 expanded +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 11 +[t=0.017423s, 12516 KB] New best heuristic value for ff: 10 +[t=0.017423s, 12516 KB] g=2, 8 evaluated, 7 expanded +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 10 +[t=0.017423s, 12516 KB] g=3, 9 evaluated, 8 expanded +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 9 +[t=0.017423s, 12516 KB] New best heuristic value for ff: 9 +[t=0.017423s, 12516 KB] g=4, 11 evaluated, 10 expanded +[t=0.017423s, 12516 KB] New best heuristic value for ff: 8 +[t=0.017423s, 12516 KB] g=5, 12 evaluated, 11 expanded +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 8 +[t=0.017423s, 12516 KB] New best heuristic value for ff: 7 +[t=0.017423s, 12516 KB] g=6, 13 evaluated, 12 expanded +[t=0.017423s, 12516 KB] New best heuristic value for ff: 6 +[t=0.017423s, 12516 KB] g=7, 14 evaluated, 13 expanded +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.017423s, 12516 KB] New best heuristic value for ff: 5 +[t=0.017423s, 12516 KB] g=8, 15 evaluated, 14 expanded +[t=0.017423s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.020515s, 12516 KB] g=9, 16 evaluated, 15 expanded +[t=0.020515s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.020515s, 12516 KB] New best heuristic value for ff: 4 +[t=0.020515s, 12516 KB] g=9, 17 evaluated, 16 expanded +[t=0.020515s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.020515s, 12516 KB] g=10, 18 evaluated, 17 expanded +[t=0.020515s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.020515s, 12516 KB] g=11, 19 evaluated, 18 expanded +[t=0.020515s, 12516 KB] New best heuristic value for ff: 2 +[t=0.020515s, 12516 KB] g=12, 20 evaluated, 19 expanded +[t=0.020515s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.020515s, 12516 KB] New best heuristic value for ff: 1 +[t=0.020515s, 12516 KB] g=13, 21 evaluated, 20 expanded +[t=0.020515s, 12516 KB] Solution found! +[t=0.020515s, 12516 KB] Actual search time: 0.003092s fall-in-love_cindy_bob_l2 (1) intend-get-gift_cindy_bob (1) move_cindy_l2_l3 (1) @@ -165,22 +165,22 @@ get-gift_alice_chocolate_l2 (1) move_bob_l1_l2 (1) gift_alice_bob_chocolate_l2 (1) confess_alice_bob_l2 (1) -[t=0.018946s, 12516 KB] Plan length: 14 step(s). -[t=0.018946s, 12516 KB] Plan cost: 14 -[t=0.018946s, 12516 KB] Expanded 21 state(s). -[t=0.018946s, 12516 KB] Reopened 0 state(s). -[t=0.018946s, 12516 KB] Evaluated 22 state(s). -[t=0.018946s, 12516 KB] Evaluations: 44 -[t=0.018946s, 12516 KB] Generated 147 state(s). -[t=0.018946s, 12516 KB] Dead ends: 0 state(s). -[t=0.018946s, 12516 KB] Number of registered states: 22 -[t=0.018946s, 12516 KB] Int hash set load factor: 22/32 = 0.687500 -[t=0.018946s, 12516 KB] Int hash set resizes: 5 -[t=0.018946s, 12516 KB] Search time: 0.001865s -[t=0.018946s, 12516 KB] Total time: 0.018946s +[t=0.020515s, 12516 KB] Plan length: 14 step(s). +[t=0.020515s, 12516 KB] Plan cost: 14 +[t=0.020515s, 12516 KB] Expanded 21 state(s). +[t=0.020515s, 12516 KB] Reopened 0 state(s). +[t=0.020515s, 12516 KB] Evaluated 22 state(s). +[t=0.020515s, 12516 KB] Evaluations: 44 +[t=0.020515s, 12516 KB] Generated 147 state(s). +[t=0.020515s, 12516 KB] Dead ends: 0 state(s). +[t=0.020515s, 12516 KB] Number of registered states: 22 +[t=0.020515s, 12516 KB] Int hash set load factor: 22/32 = 0.687500 +[t=0.020515s, 12516 KB] Int hash set resizes: 5 +[t=0.020515s, 12516 KB] Search time: 0.003092s +[t=0.020515s, 12516 KB] Total time: 0.020515s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 12.22s +INFO Planner time: 12.07s diff --git a/bdi_extension/full-bdi/output_6.txt b/bdi_extension/full-bdi/output_6.txt index d46d29e..b9a62fb 100644 --- a/bdi_extension/full-bdi/output_6.txt +++ b/bdi_extension/full-bdi/output_6.txt @@ -7,34 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [1.560s CPU, 1.525s wall-clock] -Normalizing task... [0.040s CPU, 0.037s wall-clock] +Parsing: [1.170s CPU, 1.179s wall-clock] +Normalizing task... [0.060s CPU, 0.055s wall-clock] Instantiating... -Generating Datalog program... [0.040s CPU, 0.042s wall-clock] +Generating Datalog program... [0.020s CPU, 0.021s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.070s CPU, 0.064s wall-clock] -Preparing model... [0.090s CPU, 0.094s wall-clock] -Generated 6814 rules. -Computing model... [0.010s CPU, 0.010s wall-clock] -8043 relevant atoms +Normalizing Datalog program: [0.060s CPU, 0.067s wall-clock] +Preparing model... [0.100s CPU, 0.099s wall-clock] +Generated 8380 rules. +Computing model... [0.020s CPU, 0.014s wall-clock] +7996 relevant atoms 0 auxiliary atoms -8043 final queue length -9213 total queue pushes -Completing instantiation... [0.030s CPU, 0.030s wall-clock] -Instantiating: [0.250s CPU, 0.245s wall-clock] +7996 final queue length +10245 total queue pushes +Completing instantiation... [0.040s CPU, 0.034s wall-clock] +Instantiating: [0.240s CPU, 0.243s wall-clock] Computing fact groups... Finding invariants... -624 initial candidates +591 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.070s CPU, 9.787s wall-clock] +Finding invariants: [10.070s CPU, 10.066s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... -373 uncovered facts +328 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] -Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.070s CPU, 9.791s wall-clock] +Building translation key... [0.000s CPU, 0.001s wall-clock] +Computing fact groups: [10.070s CPU, 10.070s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,112 +43,112 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.040s CPU, 0.041s wall-clock] -259 effect conditions simplified +Processing axioms: [0.000s CPU, 0.002s wall-clock] +Translating task: [0.300s CPU, 0.295s wall-clock] +170 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -331 propositions removed -Detecting unreachable propositions: [0.010s CPU, 0.005s wall-clock] +432 propositions removed +Detecting unreachable propositions: [0.000s CPU, 0.003s wall-clock] Reordering and filtering variables... -22 of 209 variables necessary. -0 of 1 mutex groups necessary. +23 of 112 variables necessary. +0 of 0 mutex groups necessary. 28 of 42 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.003s wall-clock] -Translator variables: 22 +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Translator variables: 23 Translator derived variables: 0 -Translator facts: 44 +Translator facts: 46 Translator goal facts: 4 Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 28 Translator axioms: 0 -Translator task size: 207 -Translator peak memory: 142776 KB +Translator task size: 211 +Translator peak memory: 141752 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [11.970s CPU, 11.649s wall-clock] +Done! [11.840s CPU, 11.849s wall-clock] translate exit code: 0 INFO Running search (release). INFO search stdin: output.sas -INFO search time limit: None +INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009469s, 12120 KB] reading input... -[t=0.010355s, 12120 KB] done reading input! -[t=0.014851s, 12384 KB] Initializing landmark sum heuristic... -[t=0.014919s, 12384 KB] Generating landmark graph... -[t=0.014944s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.014960s, 12384 KB] Initializing Exploration... -[t=0.014998s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015218s, 12384 KB] Landmarks generation time: 0.000283s -[t=0.015259s, 12384 KB] Discovered 31 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015279s, 12384 KB] 47 edges -[t=0.015291s, 12384 KB] approx. reasonable orders -[t=0.015381s, 12384 KB] Landmarks generation time: 0.000453s -[t=0.015411s, 12384 KB] Discovered 31 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015431s, 12384 KB] 50 edges -[t=0.015442s, 12384 KB] Landmark graph generation time: 0.000533s -[t=0.015453s, 12384 KB] Landmark graph contains 31 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015463s, 12384 KB] Landmark graph contains 50 orderings. -[t=0.015522s, 12384 KB] Simplifying 51 unary operators... done! [48 unary operators] -[t=0.015577s, 12384 KB] time to simplify: 0.000075s -[t=0.015602s, 12384 KB] Initializing additive heuristic... -[t=0.015647s, 12384 KB] Initializing FF heuristic... -[t=0.015690s, 12384 KB] Building successor generator...done! -[t=0.015761s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.015775s, 12384 KB] time for successor generation creation: 0.000013s -[t=0.015803s, 12384 KB] Variables: 22 -[t=0.015838s, 12384 KB] FactPairs: 44 -[t=0.015873s, 12384 KB] Bytes per state: 4 -[t=0.015908s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.015967s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 14 -[t=0.016004s, 12516 KB] New best heuristic value for ff: 11 -[t=0.016024s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.016041s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 14 -[t=0.016053s, 12516 KB] Initial heuristic value for ff: 11 -[t=0.016096s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 13 -[t=0.016115s, 12516 KB] g=1, 3 evaluated, 2 expanded -[t=0.016136s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 12 -[t=0.016164s, 12516 KB] New best heuristic value for ff: 10 -[t=0.016199s, 12516 KB] g=1, 4 evaluated, 3 expanded -[t=0.016247s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 11 -[t=0.016283s, 12516 KB] g=2, 5 evaluated, 4 expanded -[t=0.016340s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 10 -[t=0.016376s, 12516 KB] New best heuristic value for ff: 9 -[t=0.016411s, 12516 KB] g=2, 8 evaluated, 7 expanded -[t=0.016457s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 9 -[t=0.016492s, 12516 KB] g=3, 9 evaluated, 8 expanded -[t=0.016544s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 8 -[t=0.016580s, 12516 KB] New best heuristic value for ff: 8 -[t=0.016615s, 12516 KB] g=4, 11 evaluated, 10 expanded -[t=0.016660s, 12516 KB] New best heuristic value for ff: 7 -[t=0.016695s, 12516 KB] g=5, 12 evaluated, 11 expanded -[t=0.016741s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.016777s, 12516 KB] New best heuristic value for ff: 6 -[t=0.016813s, 12516 KB] g=6, 13 evaluated, 12 expanded -[t=0.016858s, 12516 KB] New best heuristic value for ff: 5 -[t=0.016894s, 12516 KB] g=7, 14 evaluated, 13 expanded -[t=0.016938s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.016973s, 12516 KB] New best heuristic value for ff: 4 -[t=0.017008s, 12516 KB] g=8, 15 evaluated, 14 expanded -[t=0.017053s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017088s, 12516 KB] g=9, 16 evaluated, 15 expanded -[t=0.017135s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017171s, 12516 KB] New best heuristic value for ff: 3 -[t=0.017206s, 12516 KB] g=9, 17 evaluated, 16 expanded -[t=0.017251s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017286s, 12516 KB] g=10, 18 evaluated, 17 expanded -[t=0.017331s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017367s, 12516 KB] New best heuristic value for ff: 2 -[t=0.017402s, 12516 KB] g=11, 19 evaluated, 18 expanded -[t=0.017447s, 12516 KB] New best heuristic value for ff: 1 -[t=0.017482s, 12516 KB] g=12, 20 evaluated, 19 expanded -[t=0.017531s, 12516 KB] Solution found! -[t=0.017568s, 12516 KB] Actual search time: 0.001632s +[t=0.011668s, 12120 KB] reading input... +[t=0.012702s, 12120 KB] done reading input! +[t=0.017356s, 12384 KB] Initializing landmark sum heuristic... +[t=0.017356s, 12384 KB] Generating landmark graph... +[t=0.017356s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.017356s, 12384 KB] Initializing Exploration... +[t=0.017356s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.017356s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017356s, 12384 KB] Discovered 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017356s, 12384 KB] 48 edges +[t=0.017356s, 12384 KB] approx. reasonable orders +[t=0.017356s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.017356s, 12384 KB] Discovered 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017356s, 12384 KB] 52 edges +[t=0.017356s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.017356s, 12384 KB] Landmark graph contains 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.017356s, 12384 KB] Landmark graph contains 52 orderings. +[t=0.017356s, 12384 KB] Simplifying 52 unary operators... done! [49 unary operators] +[t=0.017356s, 12384 KB] time to simplify: 0.000000s +[t=0.017356s, 12384 KB] Initializing additive heuristic... +[t=0.017356s, 12384 KB] Initializing FF heuristic... +[t=0.017356s, 12384 KB] Building successor generator...done! +[t=0.017356s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.017356s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.017356s, 12384 KB] Variables: 23 +[t=0.017356s, 12384 KB] FactPairs: 46 +[t=0.017356s, 12384 KB] Bytes per state: 4 +[t=0.017356s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.017356s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 14 +[t=0.017356s, 12516 KB] New best heuristic value for ff: 11 +[t=0.017356s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.017356s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 14 +[t=0.017356s, 12516 KB] Initial heuristic value for ff: 11 +[t=0.017356s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 13 +[t=0.017356s, 12516 KB] g=1, 3 evaluated, 2 expanded +[t=0.017356s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 12 +[t=0.017356s, 12516 KB] New best heuristic value for ff: 10 +[t=0.019884s, 12516 KB] g=1, 4 evaluated, 3 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 11 +[t=0.019884s, 12516 KB] g=2, 5 evaluated, 4 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 10 +[t=0.019884s, 12516 KB] New best heuristic value for ff: 9 +[t=0.019884s, 12516 KB] g=2, 8 evaluated, 7 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 9 +[t=0.019884s, 12516 KB] g=3, 9 evaluated, 8 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 8 +[t=0.019884s, 12516 KB] New best heuristic value for ff: 8 +[t=0.019884s, 12516 KB] g=4, 11 evaluated, 10 expanded +[t=0.019884s, 12516 KB] New best heuristic value for ff: 7 +[t=0.019884s, 12516 KB] g=5, 12 evaluated, 11 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 +[t=0.019884s, 12516 KB] New best heuristic value for ff: 6 +[t=0.019884s, 12516 KB] g=6, 13 evaluated, 12 expanded +[t=0.019884s, 12516 KB] New best heuristic value for ff: 5 +[t=0.019884s, 12516 KB] g=7, 14 evaluated, 13 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.019884s, 12516 KB] New best heuristic value for ff: 4 +[t=0.019884s, 12516 KB] g=8, 15 evaluated, 14 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.019884s, 12516 KB] g=9, 16 evaluated, 15 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.019884s, 12516 KB] New best heuristic value for ff: 3 +[t=0.019884s, 12516 KB] g=9, 17 evaluated, 16 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.019884s, 12516 KB] g=10, 18 evaluated, 17 expanded +[t=0.019884s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.019884s, 12516 KB] New best heuristic value for ff: 2 +[t=0.019884s, 12516 KB] g=11, 19 evaluated, 18 expanded +[t=0.019884s, 12516 KB] New best heuristic value for ff: 1 +[t=0.019884s, 12516 KB] g=12, 20 evaluated, 19 expanded +[t=0.019884s, 12516 KB] Solution found! +[t=0.019884s, 12516 KB] Actual search time: 0.002528s fall-in-love_cindy_bob_l2 (1) intend-get-gift_cindy_bob (1) move_cindy_l2_l3 (1) @@ -162,22 +162,22 @@ move_alice_l1_l2 (1) get-gift_alice_chocolate_l2 (1) move_bob_l1_l2 (1) gift_alice_bob_chocolate_l2 (1) -[t=0.017626s, 12516 KB] Plan length: 13 step(s). -[t=0.017626s, 12516 KB] Plan cost: 13 -[t=0.017626s, 12516 KB] Expanded 20 state(s). -[t=0.017626s, 12516 KB] Reopened 0 state(s). -[t=0.017626s, 12516 KB] Evaluated 21 state(s). -[t=0.017626s, 12516 KB] Evaluations: 42 -[t=0.017626s, 12516 KB] Generated 131 state(s). -[t=0.017626s, 12516 KB] Dead ends: 0 state(s). -[t=0.017626s, 12516 KB] Number of registered states: 21 -[t=0.017626s, 12516 KB] Int hash set load factor: 21/32 = 0.656250 -[t=0.017626s, 12516 KB] Int hash set resizes: 5 -[t=0.017626s, 12516 KB] Search time: 0.001718s -[t=0.017626s, 12516 KB] Total time: 0.017626s +[t=0.019884s, 12516 KB] Plan length: 13 step(s). +[t=0.019884s, 12516 KB] Plan cost: 13 +[t=0.019884s, 12516 KB] Expanded 20 state(s). +[t=0.019884s, 12516 KB] Reopened 0 state(s). +[t=0.019884s, 12516 KB] Evaluated 21 state(s). +[t=0.019884s, 12516 KB] Evaluations: 42 +[t=0.019884s, 12516 KB] Generated 131 state(s). +[t=0.019884s, 12516 KB] Dead ends: 0 state(s). +[t=0.019884s, 12516 KB] Number of registered states: 21 +[t=0.019884s, 12516 KB] Int hash set load factor: 21/32 = 0.656250 +[t=0.019884s, 12516 KB] Int hash set resizes: 5 +[t=0.019884s, 12516 KB] Search time: 0.002528s +[t=0.019884s, 12516 KB] Total time: 0.019884s Solution found. Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 12.26s +INFO Planner time: 12.16s diff --git a/bdi_extension/full-bdi/output_7.txt b/bdi_extension/full-bdi/output_7.txt index a8aa60d..e16417f 100644 --- a/bdi_extension/full-bdi/output_7.txt +++ b/bdi_extension/full-bdi/output_7.txt @@ -7,34 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [1.590s CPU, 1.557s wall-clock] -Normalizing task... [0.040s CPU, 0.038s wall-clock] +Parsing: [1.180s CPU, 1.182s wall-clock] +Normalizing task... [0.060s CPU, 0.056s wall-clock] Instantiating... -Generating Datalog program... [0.050s CPU, 0.047s wall-clock] +Generating Datalog program... [0.020s CPU, 0.021s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.060s CPU, 0.065s wall-clock] -Preparing model... [0.100s CPU, 0.096s wall-clock] -Generated 6814 rules. -Computing model... [0.010s CPU, 0.009s wall-clock] -8043 relevant atoms +Normalizing Datalog program: [0.070s CPU, 0.069s wall-clock] +Preparing model... [0.090s CPU, 0.096s wall-clock] +Generated 8375 rules. +Computing model... [0.020s CPU, 0.013s wall-clock] +7996 relevant atoms 0 auxiliary atoms -8043 final queue length -9213 total queue pushes -Completing instantiation... [0.030s CPU, 0.031s wall-clock] -Instantiating: [0.260s CPU, 0.254s wall-clock] +7996 final queue length +10245 total queue pushes +Completing instantiation... [0.040s CPU, 0.034s wall-clock] +Instantiating: [0.240s CPU, 0.240s wall-clock] Computing fact groups... Finding invariants... -624 initial candidates +591 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.090s CPU, 9.807s wall-clock] -Checking invariant weight... [0.000s CPU, 0.001s wall-clock] +Finding invariants: [10.060s CPU, 10.096s wall-clock] +Checking invariant weight... [0.000s CPU, 0.002s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... -371 uncovered facts +328 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.090s CPU, 9.811s wall-clock] +Computing fact groups: [10.070s CPU, 10.100s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,108 +43,108 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.040s CPU, 0.042s wall-clock] -256 effect conditions simplified +Processing axioms: [0.010s CPU, 0.002s wall-clock] +Translating task: [0.310s CPU, 0.304s wall-clock] +170 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -330 propositions removed -Detecting unreachable propositions: [0.010s CPU, 0.005s wall-clock] +432 propositions removed +Detecting unreachable propositions: [0.000s CPU, 0.003s wall-clock] Reordering and filtering variables... -26 of 208 variables necessary. -1 of 3 mutex groups necessary. +22 of 112 variables necessary. +0 of 0 mutex groups necessary. 28 of 42 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.003s wall-clock] -Translator variables: 26 +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Translator variables: 22 Translator derived variables: 0 -Translator facts: 54 +Translator facts: 44 Translator goal facts: 3 -Translator mutex groups: 1 -Translator total mutex groups size: 2 +Translator mutex groups: 0 +Translator total mutex groups size: 0 Translator operators: 28 Translator axioms: 0 -Translator task size: 337 -Translator peak memory: 142776 KB +Translator task size: 203 +Translator peak memory: 141752 KB Writing output... [0.000s CPU, 0.000s wall-clock] -Done! [12.030s CPU, 11.711s wall-clock] +Done! [11.860s CPU, 11.890s wall-clock] translate exit code: 0 INFO Running search (release). INFO search stdin: output.sas -INFO search time limit: None +INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009773s, 12120 KB] reading input... -[t=0.010739s, 12120 KB] done reading input! -[t=0.015339s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015405s, 12384 KB] Generating landmark graph... -[t=0.015433s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015454s, 12384 KB] Initializing Exploration... -[t=0.015500s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015830s, 12384 KB] Landmarks generation time: 0.000404s -[t=0.015870s, 12384 KB] Discovered 30 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015892s, 12384 KB] 45 edges -[t=0.015905s, 12384 KB] approx. reasonable orders -[t=0.016129s, 12384 KB] Landmarks generation time: 0.000724s -[t=0.016170s, 12384 KB] Discovered 30 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016191s, 12384 KB] 49 edges -[t=0.016203s, 12384 KB] Landmark graph generation time: 0.000808s -[t=0.016213s, 12384 KB] Landmark graph contains 30 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016224s, 12384 KB] Landmark graph contains 49 orderings. -[t=0.016293s, 12384 KB] Simplifying 110 unary operators... done! [68 unary operators] -[t=0.016393s, 12384 KB] time to simplify: 0.000123s -[t=0.016439s, 12384 KB] Initializing additive heuristic... -[t=0.016476s, 12384 KB] Initializing FF heuristic... -[t=0.016542s, 12384 KB] Building successor generator...done! -[t=0.016626s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.016638s, 12384 KB] time for successor generation creation: 0.000015s -[t=0.016693s, 12384 KB] Variables: 26 -[t=0.016730s, 12384 KB] FactPairs: 54 -[t=0.016751s, 12384 KB] Bytes per state: 4 -[t=0.016781s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016849s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 13 -[t=0.016871s, 12520 KB] New best heuristic value for ff: 11 -[t=0.016901s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.016928s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 13 -[t=0.016941s, 12520 KB] Initial heuristic value for ff: 11 -[t=0.016960s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 12 -[t=0.016989s, 12520 KB] g=1, 2 evaluated, 1 expanded -[t=0.017022s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 11 -[t=0.017036s, 12520 KB] New best heuristic value for ff: 10 -[t=0.017063s, 12520 KB] g=1, 3 evaluated, 2 expanded -[t=0.017111s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 10 -[t=0.017131s, 12520 KB] New best heuristic value for ff: 9 -[t=0.017143s, 12520 KB] g=2, 4 evaluated, 3 expanded -[t=0.017163s, 12520 KB] New best heuristic value for ff: 8 -[t=0.017191s, 12520 KB] g=3, 5 evaluated, 4 expanded -[t=0.017224s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 8 -[t=0.017240s, 12520 KB] New best heuristic value for ff: 7 -[t=0.017267s, 12520 KB] g=4, 6 evaluated, 5 expanded -[t=0.017315s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.017351s, 12520 KB] New best heuristic value for ff: 6 -[t=0.017387s, 12520 KB] g=5, 7 evaluated, 6 expanded -[t=0.017435s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.017472s, 12520 KB] New best heuristic value for ff: 5 -[t=0.017508s, 12520 KB] g=6, 8 evaluated, 7 expanded -[t=0.017556s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.017593s, 12520 KB] g=7, 9 evaluated, 8 expanded -[t=0.017641s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017677s, 12520 KB] New best heuristic value for ff: 4 -[t=0.017713s, 12520 KB] g=7, 10 evaluated, 9 expanded -[t=0.017760s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017796s, 12520 KB] g=8, 11 evaluated, 10 expanded -[t=0.017845s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017881s, 12520 KB] g=9, 12 evaluated, 11 expanded -[t=0.017927s, 12520 KB] New best heuristic value for ff: 2 -[t=0.017964s, 12520 KB] g=10, 13 evaluated, 12 expanded -[t=0.018010s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.018051s, 12520 KB] New best heuristic value for ff: 1 -[t=0.018087s, 12520 KB] g=11, 14 evaluated, 13 expanded -[t=0.018136s, 12520 KB] Solution found! -[t=0.018174s, 12520 KB] Actual search time: 0.001361s +[t=0.011771s, 12120 KB] reading input... +[t=0.012630s, 12120 KB] done reading input! +[t=0.017513s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018624s, 12384 KB] Generating landmark graph... +[t=0.018624s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018624s, 12384 KB] Initializing Exploration... +[t=0.018624s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018624s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018624s, 12384 KB] Discovered 30 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018624s, 12384 KB] 45 edges +[t=0.018624s, 12384 KB] approx. reasonable orders +[t=0.018624s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018624s, 12384 KB] Discovered 30 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018624s, 12384 KB] 49 edges +[t=0.018624s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018624s, 12384 KB] Landmark graph contains 30 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018624s, 12384 KB] Landmark graph contains 49 orderings. +[t=0.018624s, 12384 KB] Simplifying 51 unary operators... done! [48 unary operators] +[t=0.018624s, 12384 KB] time to simplify: 0.000000s +[t=0.018624s, 12384 KB] Initializing additive heuristic... +[t=0.018624s, 12384 KB] Initializing FF heuristic... +[t=0.018624s, 12384 KB] Building successor generator...done! +[t=0.018624s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018624s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018624s, 12384 KB] Variables: 22 +[t=0.018624s, 12384 KB] FactPairs: 44 +[t=0.018624s, 12384 KB] Bytes per state: 4 +[t=0.018624s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 13 +[t=0.018624s, 12516 KB] New best heuristic value for ff: 11 +[t=0.018624s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.018624s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 13 +[t=0.018624s, 12516 KB] Initial heuristic value for ff: 11 +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 12 +[t=0.018624s, 12516 KB] g=1, 2 evaluated, 1 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 11 +[t=0.018624s, 12516 KB] New best heuristic value for ff: 10 +[t=0.018624s, 12516 KB] g=1, 3 evaluated, 2 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 10 +[t=0.018624s, 12516 KB] New best heuristic value for ff: 9 +[t=0.018624s, 12516 KB] g=2, 4 evaluated, 3 expanded +[t=0.018624s, 12516 KB] New best heuristic value for ff: 8 +[t=0.018624s, 12516 KB] g=3, 5 evaluated, 4 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 8 +[t=0.018624s, 12516 KB] New best heuristic value for ff: 7 +[t=0.018624s, 12516 KB] g=4, 6 evaluated, 5 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 +[t=0.018624s, 12516 KB] New best heuristic value for ff: 6 +[t=0.018624s, 12516 KB] g=5, 7 evaluated, 6 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.018624s, 12516 KB] New best heuristic value for ff: 5 +[t=0.018624s, 12516 KB] g=6, 8 evaluated, 7 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.018624s, 12516 KB] g=7, 9 evaluated, 8 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 +[t=0.018624s, 12516 KB] New best heuristic value for ff: 4 +[t=0.018624s, 12516 KB] g=7, 10 evaluated, 9 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.018624s, 12516 KB] g=8, 11 evaluated, 10 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.018624s, 12516 KB] g=9, 12 evaluated, 11 expanded +[t=0.018624s, 12516 KB] New best heuristic value for ff: 2 +[t=0.018624s, 12516 KB] g=10, 13 evaluated, 12 expanded +[t=0.018624s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.018624s, 12516 KB] New best heuristic value for ff: 1 +[t=0.018624s, 12516 KB] g=11, 14 evaluated, 13 expanded +[t=0.018624s, 12516 KB] Solution found! +[t=0.018624s, 12516 KB] Actual search time: 0.000000s fall-in-love_cindy_bob_l2 (1) move_cindy_l2_l1 (1) move_bob_l2_l1 (1) @@ -157,22 +157,22 @@ get-gift_alice_chocolate_l2 (1) move_bob_l1_l2 (1) gift_alice_bob_chocolate_l2 (1) confess_bob_alice_l2 (1) -[t=0.018212s, 12520 KB] Plan length: 12 step(s). -[t=0.018212s, 12520 KB] Plan cost: 12 -[t=0.018212s, 12520 KB] Expanded 14 state(s). -[t=0.018212s, 12520 KB] Reopened 0 state(s). -[t=0.018212s, 12520 KB] Evaluated 15 state(s). -[t=0.018212s, 12520 KB] Evaluations: 30 -[t=0.018212s, 12520 KB] Generated 98 state(s). -[t=0.018212s, 12520 KB] Dead ends: 0 state(s). -[t=0.018212s, 12520 KB] Number of registered states: 15 -[t=0.018212s, 12520 KB] Int hash set load factor: 15/16 = 0.937500 -[t=0.018212s, 12520 KB] Int hash set resizes: 4 -[t=0.018212s, 12520 KB] Search time: 0.001430s -[t=0.018212s, 12520 KB] Total time: 0.018212s +[t=0.018624s, 12516 KB] Plan length: 12 step(s). +[t=0.018624s, 12516 KB] Plan cost: 12 +[t=0.018624s, 12516 KB] Expanded 14 state(s). +[t=0.018624s, 12516 KB] Reopened 0 state(s). +[t=0.018624s, 12516 KB] Evaluated 15 state(s). +[t=0.018624s, 12516 KB] Evaluations: 30 +[t=0.018624s, 12516 KB] Generated 98 state(s). +[t=0.018624s, 12516 KB] Dead ends: 0 state(s). +[t=0.018624s, 12516 KB] Number of registered states: 15 +[t=0.018624s, 12516 KB] Int hash set load factor: 15/16 = 0.937500 +[t=0.018624s, 12516 KB] Int hash set resizes: 4 +[t=0.018624s, 12516 KB] Search time: 0.000000s +[t=0.018624s, 12516 KB] Total time: 0.018624s Solution found. -Peak memory: 12520 KB +Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 12.31s +INFO Planner time: 12.15s diff --git a/bdi_extension/full-bdi/output_8.txt b/bdi_extension/full-bdi/output_8.txt index 1fafa09..3991a71 100644 --- a/bdi_extension/full-bdi/output_8.txt +++ b/bdi_extension/full-bdi/output_8.txt @@ -7,34 +7,34 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [1.590s CPU, 1.541s wall-clock] -Normalizing task... [0.040s CPU, 0.038s wall-clock] +Parsing: [1.190s CPU, 1.188s wall-clock] +Normalizing task... [0.060s CPU, 0.061s wall-clock] Instantiating... -Generating Datalog program... [0.050s CPU, 0.050s wall-clock] +Generating Datalog program... [0.020s CPU, 0.021s wall-clock] Normalizing Datalog program... -Normalizing Datalog program: [0.070s CPU, 0.067s wall-clock] -Preparing model... [0.090s CPU, 0.095s wall-clock] -Generated 6814 rules. -Computing model... [0.010s CPU, 0.009s wall-clock] -8043 relevant atoms +Normalizing Datalog program: [0.070s CPU, 0.070s wall-clock] +Preparing model... [0.110s CPU, 0.112s wall-clock] +Generated 8382 rules. +Computing model... [0.020s CPU, 0.014s wall-clock] +7996 relevant atoms 0 auxiliary atoms -8043 final queue length -9213 total queue pushes -Completing instantiation... [0.030s CPU, 0.030s wall-clock] +7996 final queue length +10245 total queue pushes +Completing instantiation... [0.040s CPU, 0.033s wall-clock] Instantiating: [0.260s CPU, 0.257s wall-clock] Computing fact groups... Finding invariants... -624 initial candidates +591 initial candidates Time limit reached, aborting invariant generation -Finding invariants: [10.080s CPU, 10.648s wall-clock] +Finding invariants: [10.070s CPU, 10.062s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s CPU, 0.000s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... -375 uncovered facts +328 uncovered facts Choosing groups: [0.000s CPU, 0.000s wall-clock] -Building translation key... [0.000s CPU, 0.000s wall-clock] -Computing fact groups: [10.080s CPU, 10.652s wall-clock] +Building translation key... [0.000s CPU, 0.001s wall-clock] +Computing fact groups: [10.070s CPU, 10.066s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.000s wall-clock] Building mutex information... @@ -43,109 +43,109 @@ Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.001s wall-clock] -Translating task: [0.050s CPU, 0.042s wall-clock] -260 effect conditions simplified +Processing axioms: [0.010s CPU, 0.002s wall-clock] +Translating task: [0.320s CPU, 0.310s wall-clock] +170 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed -330 propositions removed -Detecting unreachable propositions: [0.000s CPU, 0.005s wall-clock] +432 propositions removed +Detecting unreachable propositions: [0.000s CPU, 0.004s wall-clock] Reordering and filtering variables... -27 of 210 variables necessary. +23 of 112 variables necessary. 0 of 0 mutex groups necessary. 28 of 42 operators necessary. 0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.000s CPU, 0.003s wall-clock] -Translator variables: 27 +Reordering and filtering variables: [0.000s CPU, 0.001s wall-clock] +Translator variables: 23 Translator derived variables: 0 -Translator facts: 54 +Translator facts: 46 Translator goal facts: 4 Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 28 Translator axioms: 0 -Translator task size: 335 -Translator peak memory: 142776 KB -Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [12.020s CPU, 12.541s wall-clock] +Translator task size: 209 +Translator peak memory: 141752 KB +Writing output... [0.000s CPU, 0.000s wall-clock] +Done! [11.900s CPU, 11.889s wall-clock] translate exit code: 0 INFO Running search (release). INFO search stdin: output.sas -INFO search time limit: None +INFO search time limit: 1800s INFO search memory limit: None INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009807s, 12120 KB] reading input... -[t=0.010743s, 12120 KB] done reading input! -[t=0.015254s, 12384 KB] Initializing landmark sum heuristic... -[t=0.015321s, 12384 KB] Generating landmark graph... -[t=0.015347s, 12384 KB] Building a landmark graph with reasonable orders. -[t=0.015364s, 12384 KB] Initializing Exploration... -[t=0.015407s, 12384 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015825s, 12384 KB] Landmarks generation time: 0.000488s -[t=0.015866s, 12384 KB] Discovered 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015886s, 12384 KB] 54 edges -[t=0.015898s, 12384 KB] approx. reasonable orders -[t=0.016182s, 12384 KB] Landmarks generation time: 0.000861s -[t=0.016220s, 12384 KB] Discovered 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016239s, 12384 KB] 59 edges -[t=0.016251s, 12384 KB] Landmark graph generation time: 0.000941s -[t=0.016262s, 12384 KB] Landmark graph contains 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016274s, 12384 KB] Landmark graph contains 59 orderings. -[t=0.016338s, 12384 KB] Simplifying 110 unary operators... done! [68 unary operators] -[t=0.016416s, 12384 KB] time to simplify: 0.000098s -[t=0.016458s, 12384 KB] Initializing additive heuristic... -[t=0.016477s, 12384 KB] Initializing FF heuristic... -[t=0.016514s, 12384 KB] Building successor generator...done! -[t=0.016585s, 12384 KB] peak memory difference for successor generator creation: 0 KB -[t=0.016596s, 12384 KB] time for successor generation creation: 0.000014s -[t=0.016624s, 12384 KB] Variables: 27 -[t=0.016642s, 12384 KB] FactPairs: 54 -[t=0.016654s, 12384 KB] Bytes per state: 4 -[t=0.016679s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.016738s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 14 -[t=0.016759s, 12520 KB] New best heuristic value for ff: 11 -[t=0.016787s, 12520 KB] g=0, 1 evaluated, 0 expanded -[t=0.016811s, 12520 KB] Initial heuristic value for landmark_sum_heuristic: 14 -[t=0.016839s, 12520 KB] Initial heuristic value for ff: 11 -[t=0.016875s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 13 -[t=0.016891s, 12520 KB] g=1, 3 evaluated, 2 expanded -[t=0.016929s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 12 -[t=0.016963s, 12520 KB] New best heuristic value for ff: 10 -[t=0.016996s, 12520 KB] g=1, 4 evaluated, 3 expanded -[t=0.017044s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 11 -[t=0.017078s, 12520 KB] g=2, 5 evaluated, 4 expanded -[t=0.017135s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 10 -[t=0.017169s, 12520 KB] New best heuristic value for ff: 9 -[t=0.017202s, 12520 KB] g=2, 8 evaluated, 7 expanded -[t=0.017247s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 9 -[t=0.017281s, 12520 KB] g=3, 9 evaluated, 8 expanded -[t=0.017332s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.017366s, 12520 KB] New best heuristic value for ff: 8 -[t=0.017399s, 12520 KB] g=4, 11 evaluated, 10 expanded -[t=0.017442s, 12520 KB] New best heuristic value for ff: 7 -[t=0.017476s, 12520 KB] g=5, 12 evaluated, 11 expanded -[t=0.017521s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.017539s, 12520 KB] New best heuristic value for ff: 6 -[t=0.017550s, 12520 KB] g=6, 13 evaluated, 12 expanded -[t=0.017572s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 5 -[t=0.017600s, 12520 KB] New best heuristic value for ff: 5 -[t=0.017619s, 12520 KB] g=7, 14 evaluated, 13 expanded -[t=0.017642s, 12520 KB] New best heuristic value for ff: 4 -[t=0.017670s, 12520 KB] g=8, 15 evaluated, 14 expanded -[t=0.017700s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.017728s, 12520 KB] New best heuristic value for ff: 3 -[t=0.017747s, 12520 KB] g=9, 16 evaluated, 15 expanded -[t=0.017769s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.017781s, 12520 KB] New best heuristic value for ff: 2 -[t=0.017806s, 12520 KB] g=10, 17 evaluated, 16 expanded -[t=0.017850s, 12520 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.017869s, 12520 KB] New best heuristic value for ff: 1 -[t=0.017880s, 12520 KB] g=11, 18 evaluated, 17 expanded -[t=0.017897s, 12520 KB] Solution found! -[t=0.017925s, 12520 KB] Actual search time: 0.001218s +[t=0.012027s, 12120 KB] reading input... +[t=0.013431s, 12120 KB] done reading input! +[t=0.018021s, 12384 KB] Initializing landmark sum heuristic... +[t=0.018021s, 12384 KB] Generating landmark graph... +[t=0.018021s, 12384 KB] Building a landmark graph with reasonable orders. +[t=0.018021s, 12384 KB] Initializing Exploration... +[t=0.018021s, 12384 KB] Generating landmarks using the RPG/SAS+ approach +[t=0.018021s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018021s, 12384 KB] Discovered 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018021s, 12384 KB] 54 edges +[t=0.018021s, 12384 KB] approx. reasonable orders +[t=0.018021s, 12384 KB] Landmarks generation time: 0.000000s +[t=0.018021s, 12384 KB] Discovered 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018021s, 12384 KB] 59 edges +[t=0.018021s, 12384 KB] Landmark graph generation time: 0.000000s +[t=0.018021s, 12384 KB] Landmark graph contains 32 landmarks, of which 0 are disjunctive and 0 are conjunctive. +[t=0.018021s, 12384 KB] Landmark graph contains 59 orderings. +[t=0.018021s, 12384 KB] Simplifying 53 unary operators... done! [50 unary operators] +[t=0.018021s, 12384 KB] time to simplify: 0.000000s +[t=0.018021s, 12384 KB] Initializing additive heuristic... +[t=0.018021s, 12384 KB] Initializing FF heuristic... +[t=0.018021s, 12384 KB] Building successor generator...done! +[t=0.018021s, 12384 KB] peak memory difference for successor generator creation: 0 KB +[t=0.018021s, 12384 KB] time for successor generation creation: 0.000000s +[t=0.018021s, 12384 KB] Variables: 23 +[t=0.018021s, 12384 KB] FactPairs: 46 +[t=0.018021s, 12384 KB] Bytes per state: 4 +[t=0.018021s, 12384 KB] Conducting lazy best first search, (real) bound = 2147483647 +[t=0.018021s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 14 +[t=0.018021s, 12516 KB] New best heuristic value for ff: 11 +[t=0.018021s, 12516 KB] g=0, 1 evaluated, 0 expanded +[t=0.018021s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 14 +[t=0.018021s, 12516 KB] Initial heuristic value for ff: 11 +[t=0.018021s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 13 +[t=0.018021s, 12516 KB] g=1, 3 evaluated, 2 expanded +[t=0.018021s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 12 +[t=0.018021s, 12516 KB] New best heuristic value for ff: 10 +[t=0.020699s, 12516 KB] g=1, 4 evaluated, 3 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 11 +[t=0.020699s, 12516 KB] g=2, 5 evaluated, 4 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 10 +[t=0.020699s, 12516 KB] New best heuristic value for ff: 9 +[t=0.020699s, 12516 KB] g=2, 8 evaluated, 7 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 9 +[t=0.020699s, 12516 KB] g=3, 9 evaluated, 8 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 +[t=0.020699s, 12516 KB] New best heuristic value for ff: 8 +[t=0.020699s, 12516 KB] g=4, 11 evaluated, 10 expanded +[t=0.020699s, 12516 KB] New best heuristic value for ff: 7 +[t=0.020699s, 12516 KB] g=5, 12 evaluated, 11 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 +[t=0.020699s, 12516 KB] New best heuristic value for ff: 6 +[t=0.020699s, 12516 KB] g=6, 13 evaluated, 12 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 5 +[t=0.020699s, 12516 KB] New best heuristic value for ff: 5 +[t=0.020699s, 12516 KB] g=7, 14 evaluated, 13 expanded +[t=0.020699s, 12516 KB] New best heuristic value for ff: 4 +[t=0.020699s, 12516 KB] g=8, 15 evaluated, 14 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 +[t=0.020699s, 12516 KB] New best heuristic value for ff: 3 +[t=0.020699s, 12516 KB] g=9, 16 evaluated, 15 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 +[t=0.020699s, 12516 KB] New best heuristic value for ff: 2 +[t=0.020699s, 12516 KB] g=10, 17 evaluated, 16 expanded +[t=0.020699s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 +[t=0.020699s, 12516 KB] New best heuristic value for ff: 1 +[t=0.020699s, 12516 KB] g=11, 18 evaluated, 17 expanded +[t=0.020699s, 12516 KB] Solution found! +[t=0.020699s, 12516 KB] Actual search time: 0.002678s fall-in-love_cindy_bob_l2 (1) intend-get-gift_cindy_bob (1) move_cindy_l2_l3 (1) @@ -158,22 +158,22 @@ fall-in-love_alice_bob_l1 (1) move_alice_l1_l2 (1) intend-get-gift_alice_bob (1) get-gift_alice_chocolate_l2 (1) -[t=0.017945s, 12520 KB] Plan length: 12 step(s). -[t=0.017945s, 12520 KB] Plan cost: 12 -[t=0.017945s, 12520 KB] Expanded 18 state(s). -[t=0.017945s, 12520 KB] Reopened 0 state(s). -[t=0.017945s, 12520 KB] Evaluated 19 state(s). -[t=0.017945s, 12520 KB] Evaluations: 38 -[t=0.017945s, 12520 KB] Generated 115 state(s). -[t=0.017945s, 12520 KB] Dead ends: 0 state(s). -[t=0.017945s, 12520 KB] Number of registered states: 19 -[t=0.017945s, 12520 KB] Int hash set load factor: 19/32 = 0.593750 -[t=0.017945s, 12520 KB] Int hash set resizes: 5 -[t=0.017945s, 12520 KB] Search time: 0.001266s -[t=0.017945s, 12520 KB] Total time: 0.017945s +[t=0.020699s, 12516 KB] Plan length: 12 step(s). +[t=0.020699s, 12516 KB] Plan cost: 12 +[t=0.020699s, 12516 KB] Expanded 18 state(s). +[t=0.020699s, 12516 KB] Reopened 0 state(s). +[t=0.020699s, 12516 KB] Evaluated 19 state(s). +[t=0.020699s, 12516 KB] Evaluations: 38 +[t=0.020699s, 12516 KB] Generated 115 state(s). +[t=0.020699s, 12516 KB] Dead ends: 0 state(s). +[t=0.020699s, 12516 KB] Number of registered states: 19 +[t=0.020699s, 12516 KB] Int hash set load factor: 19/32 = 0.593750 +[t=0.020699s, 12516 KB] Int hash set resizes: 5 +[t=0.020699s, 12516 KB] Search time: 0.002678s +[t=0.020699s, 12516 KB] Total time: 0.020699s Solution found. -Peak memory: 12520 KB +Peak memory: 12516 KB Remove intermediate file output.sas search exit code: 0 -INFO Planner time: 12.30s +INFO Planner time: 12.21s diff --git a/bdi_extension/full-bdi/output_9.txt b/bdi_extension/full-bdi/output_9.txt index df4bb93..3fa1f40 100644 --- a/bdi_extension/full-bdi/output_9.txt +++ b/bdi_extension/full-bdi/output_9.txt @@ -7,170 +7,10 @@ INFO translator time limit: None INFO translator memory limit: None INFO translator command line string: /usr/bin/python3 /workspace/downward/builds/release/bin/translate/translate.py bdi_extension/full-bdi/pdkb-domain.pddl bdi_extension/full-bdi/pdkb-problem.pddl --invariant-generation-max-time 10 --sas-file output.sas Parsing... -Parsing: [75.830s CPU, 75.441s wall-clock] -Normalizing task... [0.510s CPU, 0.490s wall-clock] -Instantiating... -Generating Datalog program... [0.940s CPU, 0.912s wall-clock] -Normalizing Datalog program... -Normalizing Datalog program: [0.380s CPU, 0.370s wall-clock] -Preparing model... [3.230s CPU, 3.142s wall-clock] -Generated 70001 rules. -Computing model... [0.350s CPU, 0.344s wall-clock] -491054 relevant atoms -0 auxiliary atoms -491054 final queue length -496939 total queue pushes -Completing instantiation... [0.740s CPU, 0.717s wall-clock] -Instantiating: [5.800s CPU, 5.639s wall-clock] -Computing fact groups... -Finding invariants... -6006 initial candidates -Time limit reached, aborting invariant generation -Finding invariants: [10.180s CPU, 10.736s wall-clock] -Checking invariant weight... [0.060s CPU, 0.061s wall-clock] -Instantiating groups... [0.000s CPU, 0.001s wall-clock] -Collecting mutex groups... [0.000s CPU, 0.001s wall-clock] -Choosing groups... -3489 uncovered facts -Choosing groups: [0.000s CPU, 0.001s wall-clock] -Building translation key... [0.000s CPU, 0.005s wall-clock] -Computing fact groups: [10.260s CPU, 10.819s wall-clock] -Building STRIPS to SAS dictionary... [0.000s CPU, 0.002s wall-clock] -Building dictionary for full mutex groups... [0.000s CPU, 0.002s wall-clock] -Building mutex information... -Building mutex information: [0.010s CPU, 0.001s wall-clock] -Translating task... -Processing axioms... -Simplifying axioms... [0.000s CPU, 0.000s wall-clock] -Translator axioms removed by simplifying: 0 -Processing axioms: [0.000s CPU, 0.008s wall-clock] -Translating task: [0.350s CPU, 0.342s wall-clock] -2544 effect conditions simplified -0 implied preconditions added -Detecting unreachable propositions... -0 operators removed -0 axioms removed -4092 propositions removed -Detecting unreachable propositions: [0.050s CPU, 0.048s wall-clock] -Reordering and filtering variables... -38 of 1443 variables necessary. -0 of 0 mutex groups necessary. -45 of 52 operators necessary. -0 of 0 axiom rules necessary. -Reordering and filtering variables: [0.020s CPU, 0.021s wall-clock] -Translator variables: 38 -Translator derived variables: 0 -Translator facts: 76 -Translator goal facts: 4 -Translator mutex groups: 0 -Translator total mutex groups size: 0 -Translator operators: 45 -Translator axioms: 0 -Translator task size: 606 -Translator peak memory: 1080576 KB -Writing output... [0.000s CPU, 0.001s wall-clock] -Done! [92.840s CPU, 92.814s wall-clock] -translate exit code: 0 +Parsing domain +Expected a non-empty block starting with any of the following words: :requirements, :types, :constants, :predicates, :functions, :derived, :action +Got: [':agents', 'alice', 'bob', 'cindy', 'derek'] +translate exit code: 31 -INFO Running search (release). -INFO search stdin: output.sas -INFO search time limit: None -INFO search memory limit: None -INFO search command line string: /workspace/downward/builds/release/bin/downward --search 'let(hlm,landmark_sum(lm_factory=lm_reasonable_orders_hps(lm_rhw()),transform=adapt_costs(one),pref=false),let(hff,ff(transform=adapt_costs(one)),lazy_greedy([hff,hlm],preferred=[hff,hlm],cost_type=one,reopen_closed=false)))' --internal-plan-file sas_plan < output.sas -[t=0.009595s, 12120 KB] reading input... -[t=0.010629s, 12120 KB] done reading input! -[t=0.015143s, 12516 KB] Initializing landmark sum heuristic... -[t=0.015218s, 12516 KB] Generating landmark graph... -[t=0.015247s, 12516 KB] Building a landmark graph with reasonable orders. -[t=0.015268s, 12516 KB] Initializing Exploration... -[t=0.015320s, 12516 KB] Generating landmarks using the RPG/SAS+ approach -[t=0.015804s, 12516 KB] Landmarks generation time: 0.000561s -[t=0.015841s, 12516 KB] Discovered 24 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.015861s, 12516 KB] 36 edges -[t=0.015872s, 12516 KB] approx. reasonable orders -[t=0.016431s, 12516 KB] Landmarks generation time: 0.001212s -[t=0.016469s, 12516 KB] Discovered 24 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016489s, 12516 KB] 38 edges -[t=0.016500s, 12516 KB] Landmark graph generation time: 0.001291s -[t=0.016510s, 12516 KB] Landmark graph contains 24 landmarks, of which 0 are disjunctive and 0 are conjunctive. -[t=0.016535s, 12516 KB] Landmark graph contains 38 orderings. -[t=0.016614s, 12516 KB] Simplifying 193 unary operators... done! [126 unary operators] -[t=0.016747s, 12516 KB] time to simplify: 0.000158s -[t=0.016781s, 12516 KB] Initializing additive heuristic... -[t=0.016794s, 12516 KB] Initializing FF heuristic... -[t=0.016848s, 12516 KB] Building successor generator...done! -[t=0.016929s, 12516 KB] peak memory difference for successor generator creation: 0 KB -[t=0.016956s, 12516 KB] time for successor generation creation: 0.000019s -[t=0.016976s, 12516 KB] Variables: 38 -[t=0.016988s, 12516 KB] FactPairs: 76 -[t=0.016998s, 12516 KB] Bytes per state: 8 -[t=0.017028s, 12516 KB] Conducting lazy best first search, (real) bound = 2147483647 -[t=0.017088s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 11 -[t=0.017110s, 12516 KB] New best heuristic value for ff: 12 -[t=0.017121s, 12516 KB] g=0, 1 evaluated, 0 expanded -[t=0.017138s, 12516 KB] Initial heuristic value for landmark_sum_heuristic: 11 -[t=0.017165s, 12516 KB] Initial heuristic value for ff: 12 -[t=0.017193s, 12516 KB] New best heuristic value for ff: 11 -[t=0.017206s, 12516 KB] g=1, 2 evaluated, 1 expanded -[t=0.017227s, 12516 KB] New best heuristic value for ff: 10 -[t=0.017255s, 12516 KB] g=2, 3 evaluated, 2 expanded -[t=0.017301s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 10 -[t=0.017336s, 12516 KB] New best heuristic value for ff: 9 -[t=0.017370s, 12516 KB] g=3, 4 evaluated, 3 expanded -[t=0.017416s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 9 -[t=0.017450s, 12516 KB] New best heuristic value for ff: 8 -[t=0.017484s, 12516 KB] g=4, 5 evaluated, 4 expanded -[t=0.017533s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 7 -[t=0.017567s, 12516 KB] New best heuristic value for ff: 7 -[t=0.017603s, 12516 KB] g=5, 6 evaluated, 5 expanded -[t=0.017650s, 12516 KB] New best heuristic value for ff: 6 -[t=0.017683s, 12516 KB] g=6, 7 evaluated, 6 expanded -[t=0.017729s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 6 -[t=0.017763s, 12516 KB] New best heuristic value for ff: 5 -[t=0.017797s, 12516 KB] g=7, 8 evaluated, 7 expanded -[t=0.017851s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 4 -[t=0.017894s, 12516 KB] New best heuristic value for ff: 4 -[t=0.017928s, 12516 KB] g=8, 10 evaluated, 9 expanded -[t=0.017974s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 3 -[t=0.018008s, 12516 KB] New best heuristic value for ff: 3 -[t=0.018041s, 12516 KB] g=9, 11 evaluated, 10 expanded -[t=0.018086s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 2 -[t=0.018120s, 12516 KB] New best heuristic value for ff: 2 -[t=0.018154s, 12516 KB] g=10, 12 evaluated, 11 expanded -[t=0.018200s, 12516 KB] New best heuristic value for landmark_sum_heuristic: 1 -[t=0.018235s, 12516 KB] New best heuristic value for ff: 1 -[t=0.018269s, 12516 KB] g=11, 13 evaluated, 12 expanded -[t=0.018319s, 12516 KB] Solution found! -[t=0.018354s, 12516 KB] Actual search time: 0.001300s -move_derek_l3_l2 (1) -move_derek_l2_l1 (1) -fall-in-love_derek_alice_l1 (1) -move_cindy_l2_l1 (1) -fall-in-love_cindy_alice_l1 (1) -move_bob_l2_l1 (1) -fall-in-love_alice_bob_l1 (1) -intend-get-gift_cindy_alice (1) -get-gift_cindy_teddy_bear_l1 (1) -gift_cindy_alice_teddy_bear_l1 (1) -confess_alice_cindy_l1 (1) -confess_alice_bob_l1 (1) -confess_alice_bob_l1 (1) -[t=0.018389s, 12516 KB] Plan length: 13 step(s). -[t=0.018389s, 12516 KB] Plan cost: 13 -[t=0.018389s, 12516 KB] Expanded 14 state(s). -[t=0.018389s, 12516 KB] Reopened 0 state(s). -[t=0.018389s, 12516 KB] Evaluated 15 state(s). -[t=0.018389s, 12516 KB] Evaluations: 30 -[t=0.018389s, 12516 KB] Generated 131 state(s). -[t=0.018389s, 12516 KB] Dead ends: 0 state(s). -[t=0.018389s, 12516 KB] Number of registered states: 15 -[t=0.018389s, 12516 KB] Int hash set load factor: 15/16 = 0.937500 -[t=0.018389s, 12516 KB] Int hash set resizes: 4 -[t=0.018389s, 12516 KB] Search time: 0.001361s -[t=0.018389s, 12516 KB] Total time: 0.018389s -Solution found. -Peak memory: 12516 KB -Remove intermediate file output.sas -search exit code: 0 - -INFO Planner time: 93.33s +Driver aborting after translate +INFO Planner time: 0.30s diff --git a/bdi_extension/full-bdi/plan_1.txt b/bdi_extension/full-bdi/plan_1.txt index 17c64fd..0df5726 100644 --- a/bdi_extension/full-bdi/plan_1.txt +++ b/bdi_extension/full-bdi/plan_1.txt @@ -1,7 +1,5 @@ (move_bob_l2_l1 ) (fall-in-love_alice_bob_l1 ) -(confess_alice_bob_l1 ) -(confess_alice_bob_l1 ) (move_alice_l1_l2 ) (move_alice_l2_l3 ) (move_bob_l1_l2 ) @@ -10,4 +8,4 @@ (move_bob_l2_l3 ) (gift_alice_bob_chocolate_l3 ) (confess_alice_bob_l3 ) -; cost = 12 (unit cost) +; cost = 10 (unit cost) diff --git a/bdi_extension/full-bdi/plan_2.txt b/bdi_extension/full-bdi/plan_2.txt index a1ee3d4..0872541 100644 --- a/bdi_extension/full-bdi/plan_2.txt +++ b/bdi_extension/full-bdi/plan_2.txt @@ -1,5 +1,3 @@ -(move_cindy_l2_l1 ) -(move_bob_l2_l1 ) -(fall-in-love_alice_bob_l1 ) -(fall-in-love_cindy_bob_l1 ) -; cost = 4 (unit cost) +(move_alice_l1_l2 ) +(fall-in-love_cindy_bob_l2 ) +; cost = 2 (unit cost) diff --git a/evaluation/bdi-grapevine_evaluation.csv b/evaluation/bdi-grapevine_evaluation.csv index a4b3750..b385d2e 100755 --- a/evaluation/bdi-grapevine_evaluation.csv +++ b/evaluation/bdi-grapevine_evaluation.csv @@ -6,3 +6,44 @@ bdi-grapevine,5,3,2,21,2094,38.86333870887756,1.60,0 bdi-grapevine,6,3,2,21,2094,29.763518810272217,1.31,4 bdi-grapevine,7,3,2,21,2094,30.125640392303467,1.23,3 bdi-grapevine,8,3,2,21,2094,29.46133804321289,1.23,2,0.27,4,0.23,4 +bdi-grapevine,1,2,2,10,644,4.771231412887573 +bdi-grapevine,1,2,2,10,644,3.504014015197754 +bdi-grapevine,1,2,2,10,644,3.630187511444092 +bdi-grapevine,1,2,2,10,644,3.3416709899902344 +bdi-grapevine,1,2,2,10,644,3.3405003547668457 +bdi-grapevine,1,2,2,10,644,3.3122715950012207 +bdi-grapevine,1,2,2,10,644,3.8118207454681396 +bdi-grapevine,1,2,2,10,644,3.9005730152130127 +bdi-grapevine,1,2,2,10,644,3.82778263092041 +bdi-grapevine,1,2,2,10,644,4.480954647064209 +bdi-grapevine,1,2,2,10,644,3.9708430767059326 +bdi-grapevine,1,2,2,10,644,4.818758487701416 +bdi-grapevine,1,2,2,10,644,3.849471092224121 +bdi-grapevine,1,2,2,10,644,3.7805187702178955 +bdi-grapevine,1,2,2,10,644,3.985568046569824 +bdi-grapevine,1,2,2,10,644,3.8300118446350098 +bdi-grapevine,1,2,2,10,644,4.247027397155762 +bdi-grapevine,1,2,2,10,644,3.7599503993988037 +bdi-grapevine,1,2,2,10,644,4.789872884750366 +bdi-grapevine,1,2,2,10,644,8.177875757217407 +bdi-grapevine,1,2,2,10,644,5.057569265365601 +bdi-grapevine,1,2,2,10,644,4.715747356414795 +bdi-grapevine,1,2,2,10,644,5.634185552597046 +bdi-grapevine,1,2,2,10,644,0.8102340698242188 +bdi-grapevine,1,2,2,10,644,0.6780033111572266 +bdi-grapevine,1,2,2,10,644,0.6838409900665283 +bdi-grapevine,2,3,2,21,2094,5.174445629119873 +bdi-grapevine,3,3,2,21,2094,4.904468774795532 +bdi-grapevine,1,2,2,10,644,0.7118825912475586 +bdi-grapevine,1,2,2,10,644,0.7343027591705322 +bdi-grapevine,1,2,2,10,636,0.696007251739502 +bdi-grapevine,1,2,2,10,636,0.6771204471588135,7.59,2 +bdi-grapevine,2,3,2,21,2076,5.066106796264648,10.52,3 +bdi-grapevine,3,3,2,21,2076,4.92571759223938,10.49,2 +bdi-grapevine,4,3,2,21,2076,5.032509088516235,10.53,0 +bdi-grapevine,5,3,2,21,2076,4.961421251296997,10.48,0 +bdi-grapevine,6,3,2,21,2076,4.925966262817383,10.47,4 +bdi-grapevine,7,3,2,21,2076,4.973298072814941,10.52,3 +bdi-grapevine,8,3,2,21,2076,4.957866907119751,10.49,2 +bdi-grapevine,9,4,3,25,115421,202.2010624408722,16.93,4 +bdi-grapevine,10,5,3,29,279334,796.4470646381378,42.69,4 diff --git a/evaluation/belief-desire_evaluation.csv b/evaluation/belief-desire_evaluation.csv index 8a0e17b..94f3eb5 100755 --- a/evaluation/belief-desire_evaluation.csv +++ b/evaluation/belief-desire_evaluation.csv @@ -8,3 +8,13 @@ belief-desire,7,3,2,34,752,3.802664279937744,10.48,5 belief-desire,8,3,2,34,752,3.549376964569092,10.00,5 belief-desire,9,4,3,51,28950,127.80211544036865,22.02,3 belief-desire,10,5,3,72,56004,352.3975841999054,55.76,6 +belief-desire,1,2,2,21,334,0.623560905456543,0.31,2 +belief-desire,2,3,2,34,719,1.464101791381836,1.88,4 +belief-desire,3,3,2,34,719,1.5326337814331055,2.82,0 +belief-desire,4,3,2,34,719,1.4713006019592285,1.78,2 +belief-desire,5,3,2,34,719,1.4644224643707275,1.54,5 +belief-desire,6,3,2,34,719,1.4748191833496094,1.12,3 +belief-desire,7,3,2,34,719,1.5283730030059814,0.54,5 +belief-desire,8,3,2,34,719,1.4929895401000977,4.31,5 +belief-desire,9,4,3,51,28900,24.38162851333618,11.01,3 +belief-desire,10,5,3,72,55933,53.49939274787903,11.83,6 diff --git a/evaluation/belief-intention_evaluation.csv b/evaluation/belief-intention_evaluation.csv index ec5f0ef..ea5f697 100755 --- a/evaluation/belief-intention_evaluation.csv +++ b/evaluation/belief-intention_evaluation.csv @@ -8,3 +8,13 @@ belief-intention,7,3,2,52,4208,7.092836618423462,0.83,1 belief-intention,8,3,2,52,4208,7.357511520385742,0.84,14 belief-intention,9,4,3,63,173214,96.88539576530457,4.07,16 belief-intention,10,5,3,74,335308,242.66135358810425,10.13,16 +belief-intention,1,2,2,41,1919,2.266230583190918,0.40,4 +belief-intention,2,3,2,52,4162,5.442638635635376,0.59,13 +belief-intention,3,3,2,52,4162,5.742919683456421,0.59,3 +belief-intention,4,3,2,52,4162,6.084077835083008,1.03,4 +belief-intention,5,3,2,52,4162,5.631066083908081,0.57,1 +belief-intention,6,3,2,52,4162,5.54160213470459,0.57,8 +belief-intention,7,3,2,52,4162,5.552019357681274,0.58,1 +belief-intention,8,3,2,52,4162,5.53135085105896,0.58,14 +belief-intention,9,4,3,63,173157,94.5616455078125,3.06,16 +belief-intention,10,5,3,74,335240,183.9915328025818,6.32,16 diff --git a/evaluation/full-bdi_evaluation.csv b/evaluation/full-bdi_evaluation.csv index e69de29..771d3ec 100755 --- a/evaluation/full-bdi_evaluation.csv +++ b/evaluation/full-bdi_evaluation.csv @@ -0,0 +1,12 @@ +full-bdi,1,2,2,43,3486,12.323302030563354,10.65,10 +full-bdi,2,3,2,70,13085,65.15188431739807,11.79,2 +full-bdi,3,3,2,70,13085,67.26821875572205,11.96,6 +full-bdi,4,3,2,70,13085,64.74130821228027,11.84,7 +full-bdi,5,3,2,80,15835,66.44723892211914,12.07,14 +full-bdi,6,3,2,80,15835,66.87598466873169,12.16,13 +full-bdi,7,3,2,80,15835,71.65046429634094,12.15,12 +full-bdi,8,3,2,80,15835,66.59642910957336,12.21,12,0.30,13 +full-bdi,1,2,2,43,3486,14.376190900802612 +full-bdi,2,3,2,70,13085,124.10053181648254 +full-bdi,2,3,2,70,13085,110.31048560142517 +full-bdi,2,3,2,70,19250,176.63827753067017 diff --git a/time_output.txt b/time_output.txt index 9a8f9a7..d113528 100644 --- a/time_output.txt +++ b/time_output.txt @@ -1 +1 @@ -INFO Planner time: 10.13s +INFO Planner time: 0.29s