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Planner for Relevant Policies / PO-PRP

PO-PRP: Using PRP for Contingent Problems

A version of PRP now allows you to solving contingent planning problems using a the translation provided by the k-replanner online contingent planner. The process is always sound, and complete for simple contingent problems.*

The long-term aim of PO-PRP is to incorporate everything into the main PRP codebase. For now, it can be accessed from the branch located [here]. To run PO-PRP, use the src/poprp script with the same options listed [here].

Current Caveats

  • While in principle there is no issue mixing (fully observable) non-deterministic effects and partial observability with sensing, PO-PRP is only equipped to handle them in isolation. This will be remedied in the next release of the software.
  • It turns out that some of the features in PRP hamper the efficiency in the compiled contingent problems for the domains tested. Namely, deadend detection and optimized strong cyclic detection have been disabled by default for the poprp script. Completeness is lost only for problems with avoidable deadends, and both features can be re-enabled with the appropriate command-line options.
  • The results reported in the PO-PRP paper will differ from those obtained by running the software in its current state. This is due to improvements made to both PO-PRP and the main PRP solving process. So far, it seems as though every change in plan size and run time is for the better.
    • Update: It turns out that using a more recent version of kreplanner causes an encoding change such that PO-PRP suffers in the CTP domain. The issue has been identified, but requires a fairly major change to part of PRP. If you would like to see results for the original PO-PRP software, please contact me directly.

*: In the near future, PO-PRP will be made to be complete for width one problems as well.