Implement unambiguous mapping for deterministic compiler #265

marcofavorito · 2023-10-02T22:23:22Z

Proposed changes

Continuation of #262 from the new tip of the project (i.e. after #264).

marcofavorito · 2023-10-02T22:36:14Z

To reproduce the problem in 25bacb0:

this is the domain.pddl file:

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;; 4 Op-blocks world
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

(define (domain blocks-domain)
  (:requirements :disjunctive-preconditions :strips :typing)
  (:types block)
  (:predicates
	       (ontable ?x - block)
	       (on ?x ?y - block)
	       (clear ?x - block)
	       (emptyhand)
	       (holding ?x - block)
	       )

  (:action pick-up
	     :parameters (?x - block)
	     :precondition (and (clear ?x) (ontable ?x) (emptyhand))
	     :effect
	     (and (not (ontable ?x))
		   (not (clear ?x))
		   (not (emptyhand))
		   (holding ?x)))

  (:action put-down
	     :parameters (?x - block)
	     :precondition (holding ?x)
	     :effect
	     (and (not (holding ?x))
		   (clear ?x)
		   (emptyhand)
		   (ontable ?x)))
  (:action stack
	     :parameters (?x ?y - block)
	     :precondition (and (holding ?x) (clear ?y))
	     :effect
	     (and (not (holding ?x))
		   (not (clear ?y))
		   (clear ?x)
		   (emptyhand)
		   (on ?x ?y)))
  (:action unstack
	     :parameters (?x ?y - block)
	     :precondition (and (on ?x ?y) (clear ?x) (emptyhand))
	     :effect
	     (and (holding ?x)
		   (clear ?y)
		   (not (clear ?x))
		   (not (emptyhand))
		   (not (on ?x ?y)))))

This is the problem file:

(define (problem bw_10)
  (:domain blocks-domain)
  (:objects b1 b2 b3 - block)
  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (clear b1) (clear b2) (clear b3))
  (:goal (and (emptyhand)))
)

This is the goal formula:

O(on_b1_b2 & Y(O(on_b2_b3)))

Run:

plan4past -d domain.pddl -p p3.pddl --goal-inline "O(on_b1_b2 & Y(O(on_b2_b3)))"

This produces: new-domain.pddl:

(define (domain blocks-domain)
    (:requirements :conditional-effects :derived-predicates :disjunctive-preconditions :negative-preconditions :strips :typing)
    (:types block)
    (:predicates (Y-quoted_0) (Y-quoted_2) (clear ?x - block)  (emptyhand) (holding ?x - block)  (on ?x - block ?y - block)  (ontable ?x - block)  (quoted_1) (val-quoted_0) (val-quoted_1) (val-quoted_2) (val-quoted_3) (val-quoted_4) (val-quoted_5))
    (:derived (val-quoted_0) (or (val-quoted_3) (Y-quoted_0)))
     (:derived (val-quoted_1) (quoted_1))
     (:derived (val-quoted_2) (or (val-quoted_5) (Y-quoted_2)))
     (:derived (val-quoted_3) (and (val-quoted_4) (val-quoted_1)))
     (:derived (val-quoted_4) (on b1 b2))
     (:derived (val-quoted_5) (on b2 b3))
    (:action pick-up
        :parameters (?x - block)
        :precondition (and (clear ?x) (ontable ?x) (emptyhand))
        :effect (and (not (ontable ?x)) (not (clear ?x)) (not (emptyhand)) (holding ?x) (when (not (val-quoted_2)) (not (Y-quoted_2))) (when (not (val-quoted_0)) (not (Y-quoted_0))) (when (val-quoted_1) (quoted_1)) (when (val-quoted_0) (Y-quoted_0)) (when (val-quoted_2) (Y-quoted_2)) (when (not (val-quoted_1)) (not (quoted_1))))
    )
     (:action put-down
        :parameters (?x - block)
        :precondition (holding ?x)
        :effect (and (not (holding ?x)) (clear ?x) (emptyhand) (ontable ?x) (when (not (val-quoted_2)) (not (Y-quoted_2))) (when (not (val-quoted_0)) (not (Y-quoted_0))) (when (val-quoted_1) (quoted_1)) (when (val-quoted_0) (Y-quoted_0)) (when (val-quoted_2) (Y-quoted_2)) (when (not (val-quoted_1)) (not (quoted_1))))
    )
     (:action stack
        :parameters (?x - block ?y - block)
        :precondition (and (holding ?x) (clear ?y))
        :effect (and (not (holding ?x)) (not (clear ?y)) (clear ?x) (emptyhand) (on ?x ?y) (when (not (val-quoted_2)) (not (Y-quoted_2))) (when (not (val-quoted_0)) (not (Y-quoted_0))) (when (val-quoted_1) (quoted_1)) (when (val-quoted_0) (Y-quoted_0)) (when (val-quoted_2) (Y-quoted_2)) (when (not (val-quoted_1)) (not (quoted_1))))
    )
     (:action unstack
        :parameters (?x - block ?y - block)
        :precondition (and (on ?x ?y) (clear ?x) (emptyhand))
        :effect (and (holding ?x) (clear ?y) (not (clear ?x)) (not (emptyhand)) (not (on ?x ?y)) (when (not (val-quoted_2)) (not (Y-quoted_2))) (when (not (val-quoted_0)) (not (Y-quoted_0))) (when (val-quoted_1) (quoted_1)) (when (val-quoted_0) (Y-quoted_0)) (when (val-quoted_2) (Y-quoted_2)) (when (not (val-quoted_1)) (not (quoted_1))))
    )
)

and problem:

(define (problem bw_10)
    (:domain blocks-domain)
    (:objects b1 - block b2 - block b3 - block)
    (:init (clear b1) (clear b2) (clear b3) (emptyhand) (ontable b1) (ontable b2) (ontable b3))
    (:goal (val-quoted_0))
)

The planner cannot find the plan:

planutils run downward new-domain.pddl new-problem.pddl "--search astar(ff())"

However, when running it for the old compilation, it works: new-domain.pddl:

(define (domain blocks-domain)
    (:requirements :conditional-effects :derived-predicates :disjunctive-preconditions :negative-preconditions :strips :typing)
    (:types block)
    (:predicates (Y-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b2_b3) (YOon_b2_b3) (clear ?x - block)  (emptyhand) (holding ?x - block)  (on ?x - block ?y - block)  (ontable ?x - block)  (val-Oon_b1_b2-and-YOon_b2_b3) (val-Oon_b2_b3) (val-YOon_b2_b3) (val-on_b1_b2) (val-on_b1_b2-and-YOon_b2_b3) (val-on_b2_b3))
    (:derived (val-Oon_b1_b2-and-YOon_b2_b3) (or (val-on_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)))
     (:derived (val-Oon_b2_b3) (or (val-on_b2_b3) (Y-Oon_b2_b3)))
     (:derived (val-YOon_b2_b3) (YOon_b2_b3))
     (:derived (val-on_b1_b2) (on b1 b2))
     (:derived (val-on_b1_b2-and-YOon_b2_b3) (and (val-on_b1_b2) (val-YOon_b2_b3)))
     (:derived (val-on_b2_b3) (on b2 b3))
    (:action pick-up
        :parameters (?x - block)
        :precondition (and (clear ?x) (ontable ?x) (emptyhand))
        :effect (and (not (ontable ?x)) (not (clear ?x)) (not (emptyhand)) (holding ?x) (when (val-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)) (when (not (val-Oon_b2_b3)) (not (Y-Oon_b2_b3))) (when (val-Oon_b2_b3) (Y-Oon_b2_b3)) (when (val-Oon_b2_b3) (YOon_b2_b3)) (when (not (val-Oon_b1_b2-and-YOon_b2_b3)) (not (Y-Oon_b1_b2-and-YOon_b2_b3))) (when (not (val-Oon_b2_b3)) (not (YOon_b2_b3))))
    )
     (:action put-down
        :parameters (?x - block)
        :precondition (holding ?x)
        :effect (and (not (holding ?x)) (clear ?x) (emptyhand) (ontable ?x) (when (val-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)) (when (not (val-Oon_b2_b3)) (not (Y-Oon_b2_b3))) (when (val-Oon_b2_b3) (Y-Oon_b2_b3)) (when (val-Oon_b2_b3) (YOon_b2_b3)) (when (not (val-Oon_b1_b2-and-YOon_b2_b3)) (not (Y-Oon_b1_b2-and-YOon_b2_b3))) (when (not (val-Oon_b2_b3)) (not (YOon_b2_b3))))
    )
     (:action stack
        :parameters (?x - block ?y - block)
        :precondition (and (holding ?x) (clear ?y))
        :effect (and (not (holding ?x)) (not (clear ?y)) (clear ?x) (emptyhand) (on ?x ?y) (when (val-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)) (when (not (val-Oon_b2_b3)) (not (Y-Oon_b2_b3))) (when (val-Oon_b2_b3) (Y-Oon_b2_b3)) (when (val-Oon_b2_b3) (YOon_b2_b3)) (when (not (val-Oon_b1_b2-and-YOon_b2_b3)) (not (Y-Oon_b1_b2-and-YOon_b2_b3))) (when (not (val-Oon_b2_b3)) (not (YOon_b2_b3))))
    )
     (:action unstack
        :parameters (?x - block ?y - block)
        :precondition (and (on ?x ?y) (clear ?x) (emptyhand))
        :effect (and (holding ?x) (clear ?y) (not (clear ?x)) (not (emptyhand)) (not (on ?x ?y)) (when (val-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)) (when (not (val-Oon_b2_b3)) (not (Y-Oon_b2_b3))) (when (val-Oon_b2_b3) (Y-Oon_b2_b3)) (when (val-Oon_b2_b3) (YOon_b2_b3)) (when (not (val-Oon_b1_b2-and-YOon_b2_b3)) (not (Y-Oon_b1_b2-and-YOon_b2_b3))) (when (not (val-Oon_b2_b3)) (not (YOon_b2_b3))))
    )
)

new-problem.pddl:

(define (problem bw_10)
    (:domain blocks-domain)
    (:objects b1 - block b2 - block b3 - block)
    (:init (clear b1) (clear b2) (clear b3) (emptyhand) (ontable b1) (ontable b2) (ontable b3))
    (:goal (val-Oon_b1_b2-and-YOon_b2_b3))
)

Note that the new mapping with a smaller problem works well:

plan4past -d domain.pddl -p p2.pddl --goal-inline "O(on_b1_b2)"

where p2.pddl:

(define (problem bw_10)
  (:domain blocks-domain)
  (:objects b1 b2 - block)
  (:init (emptyhand) (ontable b1) (ontable b2) (clear b1) (clear b2))
  (:goal (and (emptyhand)))
)

marcofavorito · 2023-10-03T14:38:27Z

To reproduce the problem in 25bacb0:

this is the domain.pddl file:

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;; 4 Op-blocks world
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

(define (domain blocks-domain)
  (:requirements :disjunctive-preconditions :strips :typing)
  (:types block)
  (:predicates
	       (ontable ?x - block)
	       (on ?x ?y - block)
	       (clear ?x - block)
	       (emptyhand)
	       (holding ?x - block)
	       )

  (:action pick-up
	     :parameters (?x - block)
	     :precondition (and (clear ?x) (ontable ?x) (emptyhand))
	     :effect
	     (and (not (ontable ?x))
		   (not (clear ?x))
		   (not (emptyhand))
		   (holding ?x)))

  (:action put-down
	     :parameters (?x - block)
	     :precondition (holding ?x)
	     :effect
	     (and (not (holding ?x))
		   (clear ?x)
		   (emptyhand)
		   (ontable ?x)))
  (:action stack
	     :parameters (?x ?y - block)
	     :precondition (and (holding ?x) (clear ?y))
	     :effect
	     (and (not (holding ?x))
		   (not (clear ?y))
		   (clear ?x)
		   (emptyhand)
		   (on ?x ?y)))
  (:action unstack
	     :parameters (?x ?y - block)
	     :precondition (and (on ?x ?y) (clear ?x) (emptyhand))
	     :effect
	     (and (holding ?x)
		   (clear ?y)
		   (not (clear ?x))
		   (not (emptyhand))
		   (not (on ?x ?y)))))

This is the problem file:

(define (problem bw_10)
  (:domain blocks-domain)
  (:objects b1 b2 b3 - block)
  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (clear b1) (clear b2) (clear b3))
  (:goal (and (emptyhand)))
)

This is the goal formula:

O(on_b1_b2 & Y(O(on_b2_b3)))

Run:

plan4past -d domain.pddl -p p3.pddl --goal-inline "O(on_b1_b2 & Y(O(on_b2_b3)))"

This produces: new-domain.pddl:

(define (domain blocks-domain)
    (:requirements :conditional-effects :derived-predicates :disjunctive-preconditions :negative-preconditions :strips :typing)
    (:types block)
    (:predicates (Y-quoted_0) (Y-quoted_2) (clear ?x - block)  (emptyhand) (holding ?x - block)  (on ?x - block ?y - block)  (ontable ?x - block)  (quoted_1) (val-quoted_0) (val-quoted_1) (val-quoted_2) (val-quoted_3) (val-quoted_4) (val-quoted_5))
    (:derived (val-quoted_0) (or (val-quoted_3) (Y-quoted_0)))
     (:derived (val-quoted_1) (quoted_1))
     (:derived (val-quoted_2) (or (val-quoted_5) (Y-quoted_2)))
     (:derived (val-quoted_3) (and (val-quoted_4) (val-quoted_1)))
     (:derived (val-quoted_4) (on b1 b2))
     (:derived (val-quoted_5) (on b2 b3))
    (:action pick-up
        :parameters (?x - block)
        :precondition (and (clear ?x) (ontable ?x) (emptyhand))
        :effect (and (not (ontable ?x)) (not (clear ?x)) (not (emptyhand)) (holding ?x) (when (not (val-quoted_2)) (not (Y-quoted_2))) (when (not (val-quoted_0)) (not (Y-quoted_0))) (when (val-quoted_1) (quoted_1)) (when (val-quoted_0) (Y-quoted_0)) (when (val-quoted_2) (Y-quoted_2)) (when (not (val-quoted_1)) (not (quoted_1))))
    )
     (:action put-down
        :parameters (?x - block)
        :precondition (holding ?x)
        :effect (and (not (holding ?x)) (clear ?x) (emptyhand) (ontable ?x) (when (not (val-quoted_2)) (not (Y-quoted_2))) (when (not (val-quoted_0)) (not (Y-quoted_0))) (when (val-quoted_1) (quoted_1)) (when (val-quoted_0) (Y-quoted_0)) (when (val-quoted_2) (Y-quoted_2)) (when (not (val-quoted_1)) (not (quoted_1))))
    )
     (:action stack
        :parameters (?x - block ?y - block)
        :precondition (and (holding ?x) (clear ?y))
        :effect (and (not (holding ?x)) (not (clear ?y)) (clear ?x) (emptyhand) (on ?x ?y) (when (not (val-quoted_2)) (not (Y-quoted_2))) (when (not (val-quoted_0)) (not (Y-quoted_0))) (when (val-quoted_1) (quoted_1)) (when (val-quoted_0) (Y-quoted_0)) (when (val-quoted_2) (Y-quoted_2)) (when (not (val-quoted_1)) (not (quoted_1))))
    )
     (:action unstack
        :parameters (?x - block ?y - block)
        :precondition (and (on ?x ?y) (clear ?x) (emptyhand))
        :effect (and (holding ?x) (clear ?y) (not (clear ?x)) (not (emptyhand)) (not (on ?x ?y)) (when (not (val-quoted_2)) (not (Y-quoted_2))) (when (not (val-quoted_0)) (not (Y-quoted_0))) (when (val-quoted_1) (quoted_1)) (when (val-quoted_0) (Y-quoted_0)) (when (val-quoted_2) (Y-quoted_2)) (when (not (val-quoted_1)) (not (quoted_1))))
    )
)

and problem:

(define (problem bw_10)
    (:domain blocks-domain)
    (:objects b1 - block b2 - block b3 - block)
    (:init (clear b1) (clear b2) (clear b3) (emptyhand) (ontable b1) (ontable b2) (ontable b3))
    (:goal (val-quoted_0))
)

The planner cannot find the plan:

planutils run downward new-domain.pddl new-problem.pddl "--search astar(ff())"

However, when running it for the old compilation, it works: new-domain.pddl:

(define (domain blocks-domain)
    (:requirements :conditional-effects :derived-predicates :disjunctive-preconditions :negative-preconditions :strips :typing)
    (:types block)
    (:predicates (Y-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b2_b3) (YOon_b2_b3) (clear ?x - block)  (emptyhand) (holding ?x - block)  (on ?x - block ?y - block)  (ontable ?x - block)  (val-Oon_b1_b2-and-YOon_b2_b3) (val-Oon_b2_b3) (val-YOon_b2_b3) (val-on_b1_b2) (val-on_b1_b2-and-YOon_b2_b3) (val-on_b2_b3))
    (:derived (val-Oon_b1_b2-and-YOon_b2_b3) (or (val-on_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)))
     (:derived (val-Oon_b2_b3) (or (val-on_b2_b3) (Y-Oon_b2_b3)))
     (:derived (val-YOon_b2_b3) (YOon_b2_b3))
     (:derived (val-on_b1_b2) (on b1 b2))
     (:derived (val-on_b1_b2-and-YOon_b2_b3) (and (val-on_b1_b2) (val-YOon_b2_b3)))
     (:derived (val-on_b2_b3) (on b2 b3))
    (:action pick-up
        :parameters (?x - block)
        :precondition (and (clear ?x) (ontable ?x) (emptyhand))
        :effect (and (not (ontable ?x)) (not (clear ?x)) (not (emptyhand)) (holding ?x) (when (val-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)) (when (not (val-Oon_b2_b3)) (not (Y-Oon_b2_b3))) (when (val-Oon_b2_b3) (Y-Oon_b2_b3)) (when (val-Oon_b2_b3) (YOon_b2_b3)) (when (not (val-Oon_b1_b2-and-YOon_b2_b3)) (not (Y-Oon_b1_b2-and-YOon_b2_b3))) (when (not (val-Oon_b2_b3)) (not (YOon_b2_b3))))
    )
     (:action put-down
        :parameters (?x - block)
        :precondition (holding ?x)
        :effect (and (not (holding ?x)) (clear ?x) (emptyhand) (ontable ?x) (when (val-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)) (when (not (val-Oon_b2_b3)) (not (Y-Oon_b2_b3))) (when (val-Oon_b2_b3) (Y-Oon_b2_b3)) (when (val-Oon_b2_b3) (YOon_b2_b3)) (when (not (val-Oon_b1_b2-and-YOon_b2_b3)) (not (Y-Oon_b1_b2-and-YOon_b2_b3))) (when (not (val-Oon_b2_b3)) (not (YOon_b2_b3))))
    )
     (:action stack
        :parameters (?x - block ?y - block)
        :precondition (and (holding ?x) (clear ?y))
        :effect (and (not (holding ?x)) (not (clear ?y)) (clear ?x) (emptyhand) (on ?x ?y) (when (val-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)) (when (not (val-Oon_b2_b3)) (not (Y-Oon_b2_b3))) (when (val-Oon_b2_b3) (Y-Oon_b2_b3)) (when (val-Oon_b2_b3) (YOon_b2_b3)) (when (not (val-Oon_b1_b2-and-YOon_b2_b3)) (not (Y-Oon_b1_b2-and-YOon_b2_b3))) (when (not (val-Oon_b2_b3)) (not (YOon_b2_b3))))
    )
     (:action unstack
        :parameters (?x - block ?y - block)
        :precondition (and (on ?x ?y) (clear ?x) (emptyhand))
        :effect (and (holding ?x) (clear ?y) (not (clear ?x)) (not (emptyhand)) (not (on ?x ?y)) (when (val-Oon_b1_b2-and-YOon_b2_b3) (Y-Oon_b1_b2-and-YOon_b2_b3)) (when (not (val-Oon_b2_b3)) (not (Y-Oon_b2_b3))) (when (val-Oon_b2_b3) (Y-Oon_b2_b3)) (when (val-Oon_b2_b3) (YOon_b2_b3)) (when (not (val-Oon_b1_b2-and-YOon_b2_b3)) (not (Y-Oon_b1_b2-and-YOon_b2_b3))) (when (not (val-Oon_b2_b3)) (not (YOon_b2_b3))))
    )
)

new-problem.pddl:

(define (problem bw_10)
    (:domain blocks-domain)
    (:objects b1 - block b2 - block b3 - block)
    (:init (clear b1) (clear b2) (clear b3) (emptyhand) (ontable b1) (ontable b2) (ontable b3))
    (:goal (val-Oon_b1_b2-and-YOon_b2_b3))
)

Note that the new mapping with a smaller problem works well:

plan4past -d domain.pddl -p p2.pddl --goal-inline "O(on_b1_b2)"

where p2.pddl:

(define (problem bw_10)
  (:domain blocks-domain)
  (:objects b1 b2 - block)
  (:init (emptyhand) (ontable b1) (ontable b2) (clear b1) (clear b2))
  (:goal (and (emptyhand)))
)

solved offline with @francescofuggitti

marcofavorito · 2023-10-03T14:39:24Z

plan4past/compiler.py

+    result: Set[When] = set()
+    for p in predicates:
+        if p.name.startswith("Y-"):
+            present_predicate = Predicate(
+                add_val_prefix(remove_yesterday_prefix(p.name))
+            )
+            past_predicate = p
+        else:
+            formula = mapping.inverse_mapping[p]
+            if isinstance(formula, Before):
+                arg_predicate = mapping.mapping[formula.argument]
+                present_predicate = Predicate(add_val_prefix(arg_predicate.name))
+                past_predicate = p
+            else:
+                present_predicate = Predicate(add_val_prefix(p.name))
+                past_predicate = p
+
+        positive_when = When(present_predicate, past_predicate)
+        negative_when = When(Not(present_predicate), Not(past_predicate))
+        result.update({positive_when, negative_when})
+    return result


we cannot just remove the "Y-" prefix since now we have quoted.

However, we still have some predicates as Y-quoted_0, which must be handled with the old approach.

codecov · 2023-10-03T14:42:04Z

Codecov Report

Merging #265 (6a8aa92) into main (ce48e1e) will decrease coverage by 0.12%.
The diff coverage is 98.00%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #265      +/-   ##
==========================================
- Coverage   90.95%   90.83%   -0.12%     
==========================================
  Files          22       22              
  Lines         984     1037      +53     
==========================================
+ Hits          895      942      +47     
- Misses         89       95       +6

Flag	Coverage Δ
unittests	`90.83% <98.00%> (-0.12%)`	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
plan4past/helpers/utils.py	`95.83% <ø> (-4.17%)`	⬇️
plan4past/utils/derived_visitor.py	`100.00% <100.00%> (ø)`
plan4past/utils/predicates_visitor.py	`100.00% <100.00%> (ø)`
plan4past/utils/val_predicates_visitor.py	`100.00% <100.00%> (ø)`
plan4past/helpers/compilation_helper.py	`90.19% <90.47%> (-0.43%)`	⬇️
plan4past/compiler.py	`95.50% <90.62%> (-1.24%)`	⬇️

Since the mapping from predicate to formula now uses an incremental id with the "quoted_" prefix, the "Y-" prefix to denote yesterday formulas is not needed anymore.

marcofavorito force-pushed the new-mapping branch from 25bacb0 to 78d697e Compare October 3, 2023 14:38

marcofavorito commented Oct 3, 2023

View reviewed changes

feat: implement unambiguous mapping for deterministic planning compiler

611899e

marcofavorito force-pushed the new-mapping branch from 78d697e to 611899e Compare October 3, 2023 16:58

feat: remove 'Y-' prefix pattern

6a8aa92

Since the mapping from predicate to formula now uses an incremental id with the "quoted_" prefix, the "Y-" prefix to denote yesterday formulas is not needed anymore.

marcofavorito requested review from francescofuggitti and LBonassi95 October 3, 2023 17:24

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Implement unambiguous mapping for deterministic compiler #265

Implement unambiguous mapping for deterministic compiler #265

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Implement unambiguous mapping for deterministic compiler #265

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