Repository of Numeric Planning Benchmarks

Categories

[SNP] Simple Numeric Planning domains only use increase and decrease with constants, and have linear conditions. [LNP] Linear Numeric Planning domains add the possibility of using linear combinations of variables on the effects and also the assign operation. [NLNP] Non-Linear Numeric Planning domains use multiplication or division of fluent variables (e.g., (* fluent fluent) or (/ fluent fluent)). [SDAC] State-Dependant Action Costs are domains where the cost of the actions depend on the state they are executed in (cost expression references dynamic fluent functions that change during planning). [Unit] Unit cost domains where all actions have a cost of 1 or no explicit cost metric. [Constant] Constant cost domains where actions have different fixed numeric costs (including costs expressed via static fluent references that never change). [CE] Conditional effects.

Domains

15-puzzle [LNP, Unit]

• LNP: assigns fluent to fluent (assign (puzzle_0_0) (puzzle_1_0))

block-grouping [SNP, Unit]

counters [SNP, Unit]

delivery [LNP, Constant]

• LNP: increase by fluent (increase (current_load ?b) (weight ?i)), weight is static
• Constant: metric tracks cost; actions increase it by literal 1, 2, or 3

depots [LNP, Constant]

• LNP: increase by fluent (increase (current_load ?z) (weight ?y)), weight is static
• Constant: metric tracks fuel-cost; actions increase it by literal 1 or 10

driverlog [NLP, SDAC]

• NLNP: (* (fuel_per_minute ?truck) (time_to_drive ?loc_from ?loc_to)) — fluent * fluent
• SDAC: metric tracks fuel_used; fuel_per_minute used in cost expression is dynamic (changes with load/unload)

drone [LNP, Unit]

• LNP: uses assign and fluent expressions in effects

elevators [LNP, Constant]

• LNP: (increase (total-cost) (travel-slow ?f1 ?f2)) — increase by fluent
• Constant: metric is total-cost; travel-slow and travel-fast used in cost are static (never modified)

expedition [SNP, Unit]

ext-plant-watering [SNP, Unit]

factory-robot [NLNP]

• NLNP: (>= (energy ?r) (* (workload ?r) (efficiency ?r))) in precondition — workload is dynamic, efficiency is static

farmland [SNP, Constant]

• Constant: metric tracks cost; move-fast increases it by 1, move-slow by 0

fo-counters [LNP, Unit]

• LNP: uses assign and fluent expressions in effects

fo-farmland [LNP, Unit]

• LNP: linear fluent expressions (* 4 (num-of-cars)) in effects

fo-sailing [LNP, Unit]

• LNP: uses assign and fluent expressions in effects

forestfire [SNP, Unit]

hydropower [LNP, Constant]

• LNP: (decrease (funds) (* 1.05 (value ?n1))) and (increase (funds) (value ?n1))
• Constant: metric tracks funds; the amounts use value which is static (never modified)

markettrader [LNP, Constant]

• LNP: (decrease (cash) (price ?g ?m)), (decrease (cash) (drive-cost ?from ?to))
• Constant: metric tracks cash; the amounts use price and drive-cost which are static (never modified)

minecraft-pogo-advanced [SNP, Unit]

minecraft-sword-advanced [SNP, Unit]

mprime [SNP, Unit]

nlnp-fo-farmland [NLNP, Unit]

• NLNP: (* (num-of-cars) (fuel-price)) — transport cost depends on fleet size × dynamic fuel price; both fluents change during planning

nlnp-fo-sailing [NLNP, Unit]

• NLNP: (* (v ?b) (v ?b)) — fuel consumption proportional to velocity squared (hydrodynamic drag)

nlnp-hydropower [NLNP, Constant]

• NLNP: (* (stored_units) (turbine_wear)) — pumping overhead depends on reservoir level × turbine degradation; both are dynamic
• Constant: metric tracks funds; base cost uses value which is static, but the NLNP overhead term uses two dynamic fluents

nlnp-rover [NLNP, Constant]

• NLNP: (* (wear ?r) (load ?r)) — navigation energy depends on mechanical wear × carried sample load; both accumulate during planning
• Constant: metric tracks energy; base action costs are literals, but navigate cost is non-linear

nlnp-settlers [NLNP, Constant]

• NLNP: (* (available ore ?p) (available coal ?p)) — smelting pollution scales with stockpile sizes of both ore and coal; both are dynamic
• Constant: metric tracks labour, pollution, resource-use; literal action costs plus non-linear pollution from make-iron

nlnp-sugar [NLNP, Constant]

• NLNP: (* (wear ?m) (has-resource ?r ?m)) — mill processing overhead depends on machine wear × current resource stockpile; both are dynamic
• Constant: metric tracks mill-cost, inventory-cost, handling-cost; base costs use static cost-process, but production adds non-linear overhead

pancake [LNP, Unit]

• LNP: assigns fluent to fluent (assign (pancake_0) (pancake_1))

pathwaysmetric [LNP, Unit]

• LNP: (decrease (available ?x1) (need-for-association ?x1 ?x2 ?x3)) — increase/decrease by static fluents

petri-net [SNP, Unit]

petrobras [LNP, CE]

• LNP: uses assign and fluent expressions in effects
• CE: uses when conditional effects

planes [LNP, Unit]

• LNP: (decrease (fuel ?a) (distance ?c1 ?c2)) and (assign (fuel ?a) (capacity ?a))

plant-watering [SNP, Unit]

plotting [LNP, CE, Unit]

• LNP: uses assign (assign (count_0) 0)
• CE: uses when conditional effects

rover [SNP, Constant]

• Constant: metric tracks energy; different actions decrease it by different literal amounts

rover-linear [LNP, Constant]

• LNP: (increase (energy ?x) (- 20 recharges)) — fluent expression in effect
• Constant: metric tracks energy; most actions decrease it by literal amounts (8, 3, 5, 2, 1, 4, 6)

sailing [SNP, Unit]

satellite [LNP, Constant]

• LNP: (increase (fuel-used) (slew_time ?d_new ?d_prev)) and (decrease (data_capacity ?s) (data ?d ?m))
• Constant: metric tracks fuel-used and data-stored; the amounts use slew_time and data which are static (never modified)

sec_clearance [LNP, SDAC]

• LNP: (increase (cost_d1) (priority_d1)) — increase by fluent
• SDAC: metric tracks cost_d1/cost_d2; priority_d1 and priority_d2 used in cost are dynamic (change during planning)

settlers [LNP, Constant]

• LNP: uses assign (assign (space-in ?v) 5)
• Constant: metric tracks labour; actions increase it by literal 1, 2, 3, 5, or 10

settlersnoassign [SNP, Constant]

• Constant: metric tracks labour; actions increase it by literal 1, 2, or 3

sugar [LNP, Constant]

• LNP: (increase (mill-cost) (cost-process ?m)) and (* 5 (cost-process ?m))
• Constant: metric tracks mill-cost, inventory-cost, handling-cost; the amounts use cost-process, max-produce, capacity, max-service-time which are all static (never modified)

tpp [NLP, SDAC]

• NLNP: (* (- (request ?g) (bought ?g)) (price ?g ?m)) — fluent * fluent
• SDAC: metric is total-cost; bought and on-sale used in cost expression are dynamic (change during planning)

tpp-metric [NLP, SDAC]

• NLNP: (* (- (request ?g) (bought ?g)) (price ?g ?m)) — fluent * fluent
• SDAC: metric is total-cost; bought and on-sale used in cost expression are dynamic (change during planning)

worksworld [NLP, Constant]

• NLNP: (* (msg_size ?dct) (msg_max_rate ?dc)), (/ (work_amount ?wc ?rtwc) (resource_total ?it ?rtwc))
• Constant: metric is total-cost; all fluents in its cost expressions (work-cost-weight, work_amount, resource_total, msg_size, msg_max_rate) are static (never modified)

zenotravel [NLP, Constant]

• NLNP: (* (distance ?c1 ?c2) (slow-burn ?a)) — fluent * fluent
• Constant: metric tracks total-fuel-used; the amounts use distance, slow-burn, fast-burn which are all static (never modified)

Suspected Unsolvable

• [ ]drone/pfile14
• [ ]drone/pfile18
• [ ]expedition/pfile7
• [ ]ext-plant-watering/pfile14
• [ ]ext-plant-watering/pfile17
• [ ]farmland/instance_6_1000_1229
• [ ]plant-watering/instance_11_2
• [ ]plant-watering/instance_12_1
• [ ]plant-watering/instance_12_2
• [ ]plant-watering/instance_13_2
• [ ]plant-watering/instance_13_3
• [ ]plant-watering/instance_14_1
• [ ]plant-watering/instance_14_3
• [ ]plant-watering/instance_15_3
• [ ]plant-watering/instance_16_3
• [ ]plant-watering/instance_17_1
• [ ]plant-watering/instance_17_2
• [ ]plant-watering/instance_18_1
• [ ]plant-watering/instance_18_2
• [ ]plant-watering/instance_18_3
• [ ]plant-watering/instance_19_1
• [ ]plant-watering/instance_20_3
• [ ]sailing/instance_1_10_1229
• [ ]sailing/instance_1_1_1229
• [ ]sailing/instance_1_2_1229
• [ ]sailing/instance_1_3_1229
• [ ]sailing/instance_1_4_1229
• [ ]sailing/instance_1_5_1229
• [ ]sailing/instance_1_6_1229
• [ ]sailing/instance_1_7_1229
• [ ]sailing/instance_1_8_1229
• [ ]sailing/instance_1_9_1229
• [ ]sailing/instance_2_10_1229
• [ ]sailing/instance_2_1_1229
• [ ]sailing/instance_2_2_1229
• [ ]sailing/instance_2_3_1229
• [ ]sailing/instance_2_4_1229
• [ ]sailing/instance_2_5_1229
• [ ]sailing/instance_2_6_1229
• [ ]sailing/instance_2_7_1229
• [ ]sailing/instance_2_9_1229
• [ ]sailing/instance_3_1_1229
• [ ]sailing/instance_3_2_1229
• [ ]sailing/instance_3_3_1229
• [ ]sailing/instance_3_4_1229
• [ ]sailing/instance_3_5_1229
• [ ]sailing/instance_3_6_1229
• [ ]sailing/instance_3_7_1229
• [ ]sailing/instance_3_9_1229
• [ ]sailing/instance_4_1_1229
• [ ]sailing/instance_4_2_1229
• [ ]sailing/instance_4_3_1229
• [ ]sailing/instance_4_4_1229
• [ ]sailing/instance_4_5_1229
• [ ]sailing/instance_4_6_1229
• [ ]sailing/instance_4_9_1229
• [ ]settlersnumeric/pfile08
• [ ]settlersnumericnoassign/pfile8