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Modelling Preferences in PDDL 3.0

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Goals for today
Get to work
If I do that, get a coffee on the way
If I get a coffee, go to the loo after
Play the piano

Goals for today
Get to work
If I do that, get a coffee on the way
If I get a coffee, go to the loo after
Play the piano

Goals for *the end* of today?
(:goals(and
(at amanda work)

Work/life balance
(sometime (at amanda work))
(sometime (at amanda piano))

Selling out
(preference p0 (sometime (at amanda work)))
(preference p1 (sometime (at amanda piano)))

cost(p0) = 100
cost(p1) = 5

With goal(s)
(:goal (and
(at amanda mybed)

(:constraints (and
(preference p0 (sometime (at amanda work)))
(preference p1 (sometime (at amanda piano)))

If I do that, get a coffee on the way
(sometime (at amanda coffeeshop))?

(sometime-before (at amanda work)
(at amanda coffeeshop))

a = (at amanda work)
b = (at amanda coffeeshop)

If I get a coffee, go to the loo
(sometime (at amanda loo)) ???

If I get a coffee, go to the loo
(sometime-before (at amanda work)
(at amanda coffeeshop))
(sometime-after (at amanda coffeeshop)
(at amanda loo))

a = (at amanda coffeeshop)
b = (at amanda loo)

Sometime-Before vs Sometime-After
(sometime-before (at amanda work)
(at amanda coffeeshop))
(sometime-after (at amanda coffeeshop)
(at amanda work))

These are not inverses:
If I go to work then I have to have coffee first;
If I drink coffee I have to go to work afterwards.

Watch Out!
What if playing the piano adds (played amanda piano):

(sometime-after (at amanda work)
(played amanda piano))

Order a then b then c?

(and(sometime-before (b) (a))
(sometime-after (b) (c))
We can satisfy this with b, c, a, b not just a, b, c!

One last sort of preference
(:goal (and
(at amanda mybed)
(preference p4 (switched-off phone))

Solving Planning Problems With Soft Goals

Goal preferences must be easy?
Its almost a goal, cmon

Compiling goal preferences

RPG Heuristic?
Whats a relaxed plan for a problem with four compiled-away goal preferences?

RPG Heuristic?
Whats a relaxed plan for a problem with four compiled-away goal preferences?

(forgo p0) (forgo p1) (forgo p2) (forgo p3)

h(S) = 5(distance to go)
Regardless of how close it is to meeting a goal

Keyder & Geffner, JAIR, 2009

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