LiftedTCORE: a Lifted Constraint Compiler for Planning in PDDL3

LiftedTCORE is a variant of the TCORE compiler that compiles away the constraints of a PDDL3 planning problem, allowing the use of modern planners.

As opposed to TCORE, LiftedTCORE operates without grounding the action operators in the domain file (aka: lifted compilation), which has several advantages. For example:

• it leads to much more succinct specifications that easier to understand and debug.
• it allows the use of lifted planners.

LiftedTCORE:

• receive as input a domain and a problem file with always, sometime, at-most-once, sometime-before, sometime-after constraints (see PDDL3.0).
• produce as output a domain and a problem file without constraints, specifying an equivalent planning problem instance to the input one.

Repository Structure

• source/: the source code of LiftedTCORE.
• data/: PDDL domains and problem instances with constraints.
• scripts/: contains a script for running LiftedTCORE on a specific domain and a range of problem instances.

Installation

This software requires:

• unified-planning version 1.1.0

Example Executions

python3 -m scripts.run sokoban 1 20
python3 -m scripts.run blocksworld 1 30