/* APPENDIX C
Section C.4 ADD-based Representation of a Delivery Example
*/
Fluents:
hcX - a person X has coffee
hmX - a person X has mail
rl - the robot location
g - going /* not considered, we can abstract it away */
cf - the robot is carrying coffee
cmX - the robot is carrying mail for a person X
wcX - wantsCoffee (one of people)
mpX - mailPresent (for one of people)
Actions:
pc - pickup coffee
pmAn - pickup mail for Ann
pmJo - pickup mail for Joe
gcAn - give coffee to Ann
gcJo - give coffee to Joe
gmAn - give mail to Ann
gmJo - give mail to Joe
gotoMO - go to the main office from the current location
gotoAn - go to Ann's office from the current location
gotoJo - go to Joe's office from the current location
pbc - put back coffee
pbmAn - put Ann's mail back into his mailbox
pbmJo - put Joe's mail back into his mailbox
--------------------------------------------------------------------
(variables (hcAn yes no) (hcJo yes no) (hmAn yes no) (hmJo yes no)
(rl mo hl an jo) (cf yes no) (cmAn yes no) (cmJo yes no)
(wcAn yes no) (wcJo yes no) (mpAn yes no) (mpJo yes no))
action pc
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (rl (mo (1.0 0.0))
(hl (0.0 1.0))
(an (0.0 1.0))
(jo (0.0 1.0)))))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action pmAn
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (mpAn (yes (rl (mo (1.0 0.0))
(hl (0.0 1.0))
(an (0.0 1.0))
(jo (0.0 1.0))))
(no (0.0 1.0)))))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (0.0 1.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action pmJo
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (mpJo (yes (rl (mo (1.0 0.0))
(hl (0.0 1.0))
(an (0.0 1.0))
(jo (0.0 1.0))))
(no (0.0 1.0)))))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (0.0 1.0))
(no (0.0 1.0)))
endaction
action gcAn
hcAn (hcAn (yes (1.0 0.0))
(no (cf (yes (rl (mo (0.0 1.0))
(hl (0.0 1.0))
(an (0.95 0.05))
(jo (0.0 1.0))))
(no (0.0 1.0)))))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (cf (yes (rl (mo (1.0 0.0))
(hl (1.0 0.0))
(an (0.05 0.95))
(jo (1.0 0.0))))
(no (1.0 0.0))))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action gcJo
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (cf (yes (rl (mo (0.0 1.0))
(hl (0.0 1.0))
(an (0.0 1.0))
(jo (0.95 0.05))))
(no (0.0 1.0)))))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (cf (yes (rl (mo (1.0 0.0))
(hl (1.0 0.0))
(an (1.0 0.0))
(jo (0.05 0.95))))
(no (1.0 0.0))))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action gmAn
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (cmAn (yes (rl (mo (0.0 1.0))
(hl (0.0 1.0))
(an (0.95 0.05))
(jo (0.0 1.0))))
(no (0.0 1.0)))))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action gmJo
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (cmJo (yes (rl (mo (0.0 1.0))
(hl (0.0 1.0))
(an (0.0 1.0))
(jo (0.95 0.05))))
(no (0.0 1.0)))))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action gotoMO
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (0.99 0.01 0.0 0.0))
(hl (0.99 0.01 0.0 0.0))
(an (0.99 0.01 0.0 0.0))
(jo (0.99 0.01 0.0 0.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action gotoAn
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (0.0 0.01 0.99 0.0))
(hl (0.0 0.01 0.99 0.0))
(an (0.0 0.01 0.99 0.0))
(jo (0.0 0.01 0.99 0.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action gotoJo
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (0.0 0.01 0.0 0.99))
(hl (0.0 0.01 0.0 0.99))
(an (0.0 0.01 0.0 0.99))
(jo (0.0 0.01 0.0 0.99)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action pbc
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (rl (mo (0.0 1.0))
(hl (1.0 0.0))
(an (1.0 0.0))
(jo (1.0 0.0))))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (0.0 1.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action pbmAn
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (rl (mo (0.0 1.0))
(hl (1.0 0.0))
(an (1.0 0.0))
(jo (1.0 0.0))))
(no (0.0 1.0)))
cmJo (cmJo (yes (1.0 0.0))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (rl (mo (1.0 0.0))
(hl (0.0 1.0))
(an (0.0 1.0))
(jo (0.0 1.0)))))
mpJo (mpJo (yes (1.0 0.0))
(no (0.0 1.0)))
endaction
action pbmJo
hcAn (hcAn (yes (1.0 0.0))
(no (0.0 1.0)))
hcJo (hcJo (yes (1.0 0.0))
(no (0.0 1.0)))
hmAn (hmAn (yes (1.0 0.0))
(no (0.0 1.0)))
hmJo (hmJo (yes (1.0 0.0))
(no (0.0 1.0)))
rl (rl (mo (1.0 0.0 0.0 0.0))
(hl (0.0 1.0 0.0 0.0))
(an (0.0 0.0 1.0 0.0))
(jo (0.0 0.0 0.0 1.0)))
cf (cf (yes (1.0 0.0))
(no (0.0 1.0)))
cmAn (cmAn (yes (1.0 0.0))
(no (0.0 1.0)))
cmJo (cmJo (yes (rl (mo (0.0 1.0))
(hl (1.0 0.0))
(an (1.0 0.0))
(jo (1.0 0.0))))
(no (0.0 1.0)))
wcAn (wcAn (yes (1.0 0.0))
(no (0.0 1.0)))
wcJo (wcJo (yes (1.0 0.0))
(no (0.0 1.0)))
mpAn (mpAn (yes (1.0 0.0))
(no (1.0 0.0)))
mpJo (mpJo (yes (1.0 0.0))
(no (rl (mo (1.0 0.0))
(hl (0.0 1.0))
(an (0.0 1.0))
(jo (0.0 1.0)))))
endaction
reward (hcAn (yes (hmAn (yes (hcJo (yes (hmJo (yes (55.0))
(no (25.0))))
(no (hmJo (yes (55.0))
(no (55.0))))))
(no (hcJo (yes (hmJo (yes (55.0))
(no (25.0))))
(no (hmJo (yes (55.0))
(no (25.0))))))))
(no (hmAn (yes (hcJo (yes (hmJo (yes (30.0))
(no (0.0))))
(no (hmJo (yes (30.0))
(no (30.0))))))
(no (hcJo (yes (hmJo (yes (30.0))
(no (0.0))))
(no (hmJo (yes (30.0))
(no (0.0)))))))))
discount 1.000000
horizon 5.000000