Akfix

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

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

bdi_extension/bdi-grapevine/output_1.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/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]
 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...
@@ -44,93 +44,93 @@ 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).
 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

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,