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belief-intention-compilation

A compiler that will convert Belief and Intentional PDDL into a form that can be handled by an intentional Planner, such as Glaive

Belief and Intentional PDDL differs from PDDL by supporting 2nd order (intends ?character ?predicate) and (believes ?character ?predicate) predicates. Belief and Intentional PDDL supports actions that a character tries and may fail at, causing a separate set of failure effects.

Written by Matthew Christensen and Jennifer Nelson for the following paper:

Using Domain Compilation to Add Belief to Narrative Planners
Matthew Christensen, Jennifer M. Nelson, and Rogelio E. Cardona-Rivera
The 16th AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE-20)

Using the tool

Code was written and tested on python version 3.6

usage: python3 belief-intention-system.py [-h] [--glaive-path [GLAIVE_PATH]]
                                  [--glaive-dom [GLAIVE_DOM]]
                                  [--glaive-prob [GLAIVE_PROB]]
                                  [--glaive-plan [GLAIVE_PLAN]]
                                  [--glaive-args ...]
                                  domain problem solution

positional arguments:
  domain                The belief-intention domain (PDDL)
  problem               The belief-intention problem (PDDL)
  solution              Where the resulting plan is stored

optional arguments:
  -h, --help            show this help message and exit
  --glaive-path [GLAIVE_PATH]
                        Path to the GLAIVE .jar (or other narrative planner)
                        Default: resources/glaive.jar
  --glaive-dom [GLAIVE_DOM]
                        Optionally choose the place to store the intermediate
                        intentional domain that is fed to GLAIVE
                        Defualt: TestFiles/glaive-dom.pddl
  --glaive-prob [GLAIVE_PROB]
                        Optionally choose the place to store the intermediate
                        intentional problem that is fed to GLAIVE
                        Default: TestFiles/glaive-prob.pddl
  --glaive-plan [GLAIVE_PLAN]
                        Optionally choose the place to store the plan that is
                        gathered from GLAIVE
                        Default: TestFiles/glaive-plan.pddl
  --glaive-args ...     Other arguments to pass to GLAIVE

Notes:

  • A Glaive .jar is found in resources, or you may substitute another planner capable of handling intentional PDDL. The full Glaive narrative plannner is available at https://nil.cs.uno.edu/projects/glaive/
  • The belief-intention-system.py script runs easiest from the main directory.

Replicating the Paper

The below script was used to generate the timing numbers and figures in the paper.

python3 timing_analysis.py

Requires scipy, numpy and pyplot (can comment out creating the violinplots)

Domains used in the paper can be found in the "paper_domains" folder.

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A compiler that will convert Belief and Intentional PDDL into a form that can be handled by an intentional Planner such as Glaive

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