Multi-agent Epistemic Temporal Planning With Proper Doxastic Knowledge Bases

Original repo description

This repository houses the code for solving Multi-agent Epistemic Planning (MEP) problems using Proper Doxastic Knowledge Bases (PDKB). There are a number of components that may be useful on their own, including working directing with PDKB's, augmenting the MEP formalism, or even just creating / dealing with KD45 kripke structures.

Eventually, more documentation will be added to the project, but feel free to contact me if you have any questions. For a demo and more information on the project, [click here].

Installation

git clone git@github.com:neighthan/pdkb-planning.git
cd pdkb-planning
pip install -e .

We recommend installing TFD for planning.

Usage

The following scripts are installed

• convert_pdkbddl: takes a path to a PDKBDDL file as input and writes the converted PDDL domain and problem files into the current directory.

There are example files in examples/temporal. E.g. to test your installation, you can run

# from examples/temporal
convert_pdkbddl --pdkbddl_path corridor_temporal.pdkbddl
tfd corridor_temporal_domain.pddl  corridor_temporal_problem.pddl plan.txt

Modifications

In order to easily add epistemic aspects to existing problems, we've added default values for the PDKBDDL-specific fields. If you just copy-paste your PDDL problem file into the bottom of the domain file, this should already be a valid PDKBDDL file. The defaults we set are

• (:agents ) (no agents)
• derive-condition: always for durative actions (not added yet for normal actions; TFD requires all actions to be durative)
• (:task valid_generation) (generate a valid plan)
• (:depth 1) (level of belief nesting)
• (:init-type complete)
• (:projection ) (no projection)

Caveats

• TFD doesn't support duration inequalities.
• TFD may have issues with action durations involving operations applied to functions
• Problem types besides valid generation may not work.
• Because of how the parsing works, using [] for belief or <> for possibility on the same line where these characters are used in another way may cause issues. See pdkb.problems:read_pdkbddl_file, especially replace_modal.