epistemic-robotics

The Epistemic Robotics Project

EPDDL · plank · Aletheia · 16 domains

The sixteen domains

Every planning domain of the project, stated in EPDDL over the intermediate action-type library, grounded by plank and solved by Aletheia. Each entry gives the domain's signature, the event types it uses, the size of its grounded task and initial model, and what the planner returned, all measured by grounding and solving the instance named, and not taken from a description of it.

The domains are grouped by the frame their reachable models inhabit. That frame is a consequence of the event types a domain uses: public and semi-private types keep every relation an equivalence, and private or quasi-private types do not. The declared frame each entry also reports is the one the problem states for its initial model. Measured with Aletheia as linked by ePlanSys 0.2.0, default strategy selection, 45-second budget, on one machine, 25 September 2026. The two axes that group them are drawn in The domains.

Tier I

One agent, knowledge · \(\mathrm{S5}\)

One agent and one equivalence relation. Every event is observed by the only agent there is, so sensing shrinks a class and ontic change moves within one; the relation stays an equivalence.

The tier in full: One agent knows

lone-inspector

S5 · 1 agent

Agents: r
Objects: (:objects dock bay1 bay2 - zone)
Event types: public-onticpublic-sensing
Initial model: \(|W_0| = 2\), \(|W_d| = 1\) · declared frame S5
Grounded: 23 atoms, 18 ground actions, goal of modal depth 0
Solved: depth 5, 42 expansions, 1 leaves
Stated in: One agent knows

Predicates and goal, as written

(:predicates
      (at-ag ?i - agent ?z - zone)
      (crate-at ?z - zone)
      (carrying ?i - agent)
      (delivered)
      (:fact adjacent ?z1 ?z2 - zone)
      (:fact bay      ?z      - zone)
      (:fact dock     ?z      - zone)
  )

(:goal
      (delivered)
  )

building-rooms

S5 · 1 agent

Agents: r1
Objects: –
Event types: public-onticsemi-private-sensing
Initial model: \(|W_0| = 4\), \(|W_d| = 4\) · declared frame S5
Grounded: 4 atoms, 4 ground actions, goal of modal depth 1
Solved: depth 4, 31 expansions, 4 leaves
Stated in: The six-room run · The six-room survey

Predicates and goal, as written

(:predicates
    (blocked-r3)
    (blocked-r6)
    (at-door3 ?i - agent)
    (at-door6 ?i - agent)
  )

(:goal
    (and
      ([Kw. r1] (blocked-r3))
      ([Kw. r1] (blocked-r6))
    )
  )

Tier II

One agent, belief · \(\mathrm{KD45}\)

One agent whose relation need not be reflexive. A private ontic change, an event the agent does not observe, leaves it considering possible only worlds the actual one no longer resembles; the truth axiom is lost and seriality is what remains.

The tier in full: One agent believes

remote-door

KD45 · 1 agent

Agents: r
Objects: (:objects office plant - zone)
Event types: private-onticpublic-onticpublic-sensing
Initial model: \(|W_0| = 1\), \(|W_d| = 1\) · declared frame KD45
Grounded: 9 atoms, 8 ground actions, goal of modal depth 1
Solved: depth 3, 14 expansions, 1 leaves
Stated in: One agent believes

Predicates and goal, as written

(:predicates
    (at-ag ?i - agent ?z - zone)
    (shut)
    (:fact adjacent ?z1 ?z2 - zone)
    (:fact door-at  ?z     - zone)
  )

(:goal
    (and (shut) ([r] (shut)))
  )

robot-relay

KD45 · 1 agent

Agents: r1
Objects: (:objects home lane bayA bayB relay1 relay2 depot - zone)
Event types: private-announcementprivate-onticprivate-sensingpublic-announcementpublic-onticsemi-private-sensing
Initial model: \(|W_0| = 2\), \(|W_d| = 2\) · declared frame KD45
Grounded: 80 atoms, 133 ground actions, goal of modal depth 1
Solved: depth 11  1,233 expansions, 1 leaves
Stated in: Domains

Predicates and goal, as written

(:predicates
    (at-ag      ?i - agent ?z - zone)
    (package-at ?z - zone)
    (carrying   ?i - agent)
    (delivered)
    (:fact adjacent ?z1 ?z2 - zone)
    (:fact bay      ?z      - zone)
    (:fact depot    ?z      - zone)
    (:fact courier  ?i      - agent)
  )

(:goal
    (and
      (delivered)
      ([Kw. r1] (package-at bayA))
    )
  )

Tier III

Several agents, knowledge · \(\mathrm{S5}_n\)

One equivalence per agent. Public and semi-private event types keep every relation an equivalence under product update, so every reachable model stays in this tier; common and distributed knowledge are definable over the union and the intersection of the relations.

The tier in full: A fleet knows

muddy-children

S5_n · 2 agents

Agents: c1, c2
Objects: –
Event types: public-sensing
Initial model: \(|W_0| = 4\), \(|W_d| = 1\) · declared frame S5
Grounded: 2 atoms, 2 ground actions, goal of modal depth 1
Solved: depth 2, 6 expansions, 1 leaves
Stated in: Domains

Predicates and goal, as written

(:predicates (muddy ?i - agent))

(:goal
    (and
      ([Kw. c1] (muddy c1))
      ([Kw. c2] (muddy c2))
    )
  )

Active-Muddy-Child

S5_n · 5 agents

Agents: Child1, Child2, Child3, Child4, Child5
Objects: –
Event types: public-sensing
Initial model: \(|W_0| = 32\), \(|W_d| = 1\) · declared frame S5
Grounded: 5 atoms, 5 ground actions, goal of modal depth 1
Solved: no solution: the search space is exhausted at depth 1
Stated in: Domains

Predicates and goal, as written

(:predicates (muddy ?i - agent))

(:goal ([Kw. Child1] (muddy Child1)))

robot-warehouse

S5_n · 2 agents

Agents: r1, r2
Objects: (:objects dock_south corridor dock_north lane bay2 bay3 - zone)
Event types: public-announcementpublic-onticsemi-private-sensing
Initial model: \(|W_0| = 2\), \(|W_d| = 2\) · declared frame S5
Grounded: 69 atoms, 132 ground actions, goal of modal depth 1
Solved: replanning over the determinization: 14 expansions, 1 leaves
Stated in: The warehouse run · Nested epistemic goals · Over Open-RMF

Predicates and goal, as written

(:predicates
    (at-ag     ?i - agent ?z - zone)
    (pallet-at ?z - zone)
    (carrying  ?i - agent)
    (delivered)
    (:fact adjacent ?z1 ?z2 - zone)
    (:fact bay      ?z      - zone)
    (:fact dock     ?z      - zone)
  )

(:goal
    (and
      (delivered)
      ([Kw. r2] (pallet-at bay2))
    )
  )

pass-through

S5_n · 3 agents

Agents: west, east, carrier
Objects: (:objects t1 t2 t3 - tunnel)
Event types: public-onticsemi-private-announcementsemi-private-sensing
Initial model: \(|W_0| = 3\), \(|W_d| = 3\) · declared frame S5
Grounded: 16 atoms, 72 ground actions, goal of modal depth 0
Solved: depth 5, 445 expansions, 3 leaves
Stated in: A route through a bay no map contains

Predicates and goal, as written

(:predicates
    (open ?t - tunnel)
    (covers ?i - agent ?t - tunnel)
    (hauls ?i - agent)
    (delivered)
  )

(:goal (delivered))

Tier IV

Several agents, belief · \(\mathrm{KD45}_n\)

Private and quasi-private event types relate what occurred to an event some agent does not observe. That agent keeps what it last had reason to hold, which may now be false: the reachable relations are serial, transitive and Euclidean, and no longer reflexive.

The tier in full: A fleet believes

ugv-coordination

KD45_n · 2 agents

Agents: R1, R2
Objects: (:objects b1 b2 b3 - location)
Event types: private-announcementprivate-sensingpublic-ontic
Initial model: \(|W_0| = 2\), \(|W_d| = 2\) · declared frame S5
Grounded: 20 atoms, 17 ground actions, goal of modal depth 2
Solved: depth 3, 37 expansions, 2 leaves
Stated in: A fleet knows

Predicates and goal, as written

(:predicates
      (at ?i - agent ?l - location)
      (target-at ?l - location)
      (:fact adjacent    ?l1 ?l2 - location)
      (:fact has-scanner ?i - agent)
  )

(:goal
      ([R1] ([Kw. R2] (target-at b2)))
  )

survey-team

KD45_n · 3 agents

Agents: scout, relay, observer
Objects: –
Event types: private-announcementpublic-announcementpublic-onticsemi-private-sensing
Initial model: \(|W_0| = 2\), \(|W_d| = 2\) · declared frame S5
Grounded: 4 atoms, 30 ground actions, goal of modal depth 1
Solved: depth 3, 21 expansions, 2 leaves
Stated in: Epistemic planning on a warehouse floor at scale

Predicates and goal, as written

(:predicates
    (contaminated)
    (on-site ?i - agent)
  )

(:goal
    (and
      ([Kw. scout] (contaminated))
      ([Kw. relay] (contaminated))
      (<Kw. observer> (contaminated))
    )
  )

survey-sites

KD45_n · 3 agents

Agents: scout, relay, observer
Objects: (:objects a17 a31 a06 - site)
Event types: private-announcementpublic-onticsemi-private-sensing
Initial model: \(|W_0| = 3\), \(|W_d| = 3\) · declared frame S5
Grounded: 12 atoms, 72 ground actions, goal of modal depth 1
Solved: replanning over the determinization: 8 expansions, 3 leaves
Stated in: Knowing which, and knowing about a place nobody went

Predicates and goal, as written

(:predicates
    (contaminated ?s - site)
    (on-site ?i - agent ?s - site)
  )

(:goal
    (and
      ([Kw. scout] (contaminated a17))
      ([Kw. scout] (contaminated a31))
      ([Kw. scout] (contaminated a06))
      ([Kw. relay] (contaminated a17))
      ([Kw. relay] (contaminated a31))
      ([Kw. relay] (contaminated a06))
      (<Kw. observer> (contaminated a17))
      (<Kw. observer> (contaminated a31))
      (<Kw. observer> (contaminated a06))
  ...  (2 more lines)

coin-in-the-box

KD45_n · 3 agents

Agents: A, B, C
Objects: –
Event types: private-announcementprivate-onticquasi-private-sensing
Initial model: \(|W_0| = 2\), \(|W_d| = 1\) · declared frame S5
Grounded: 8 atoms, 21 ground actions, goal of modal depth 1
Solved: depth 2, 7 expansions, 1 leaves
Stated in: A fleet believes

Predicates and goal, as written

(:predicates
      (tails)
      (opened)
      (looking ?i - agent)
      (has-key ?i - agent)
  )

(:goal
      ([A] (tails))
  )

box-task

KD45_n · 2 agents

Agents: r1, r2
Objects: –
Event types: private-announcementprivate-onticpublic-ontic
Initial model: \(|W_0| = 128\), \(|W_d| = 8\) · declared frame S5
Grounded: 10 atoms, 14 ground actions, goal of modal depth 1
Solved: linear plan by GBFS: length 1, 1 expansions
Stated in: A fleet believes

Predicates and goal, as written

(:predicates
    (boxAt-A)
    (boxAt-B)
    (at-A    ?r - agent)
    (at-B    ?r - agent)
    (seen    ?r - agent)
    (holding ?r - agent)
  )

(:goal
    (and
      (holding r2)
      ([r1] (holding r2))
    )
  )

box-task-2.0

KD45_n · 2 agents

Agents: r1, r2
Objects: –
Event types: private-announcementprivate-onticpublic-onticpublic-sensing
Initial model: \(|W_0| = 256\), \(|W_d| = 4\) · declared frame S5
Grounded: 14 atoms, 32 ground actions, goal of modal depth 1
Solved: no solution: the search space is exhausted at depth 7
Stated in: A fleet believes

Predicates and goal, as written

(:predicates
    (boxAt-A)
    (boxAt-B)
    (at-A              ?r - agent)
    (at-B              ?r - agent)
    (seen              ?r - agent)
    (holding           ?r - agent)
    (in-transit-A-to-B ?r - agent)
    (in-transit-B-to-A ?r - agent)
  )

(:goal
    (and
      (holding r2)
      ([r1] (holding r2))
    )
  )

doxastic-depot

KD45_n · 3 agents

Agents: chief, rob1, rob2
Objects: (:objects bay1 bay2 bay3 - bay c1 c2 - crate )
Event types: private-announcementprivate-onticprivate-sensingpublic-announcementpublic-onticquasi-private-announcementquasi-private-sensing
Initial model: \(|W_0| = 1\), \(|W_d| = 1\) · declared frame KD45
Grounded: 29 atoms, 315 ground actions, goal of modal depth 1
Solved: depth 2  1,085 expansions, 1 leaves
Stated in: A fleet believes

Predicates and goal, as written

(:predicates
      (at-ag    ?i - agent ?b - bay)
      (at       ?c - crate ?b - bay)
      (sealed   ?c - crate)
      (:fact adjacent ?b1 ?b2 - bay)
      (:fact office   ?b      - bay)
  )

(:goal
      (and
          (at c1 bay2)
          ([chief] (at c1 bay1))
      )
  )

hotel-incident

KD45_n · 3 agents

Agents: inspector, porter, guest
Objects: (:objects lobby l2_suite l3_suite - zone)
Event types: private-onticpublic-announcementpublic-onticquasi-private-announcementsemi-private-sensing
Initial model: \(|W_0| = 2\), \(|W_d| = 2\) · declared frame S5
Grounded: 31 atoms, 840 ground actions, goal of modal depth 1
Solved: depth 3, 156 expansions, 2 leaves
Stated in: A fleet believes · The hotel incident

Predicates and goal, as written

(:predicates
    (at-ag     ?i - agent ?z - zone)
    (leak-at   ?z - zone)
    (contained ?z - zone)
    (safe)
    (:fact adjacent ?z1 ?z2 - zone)
    (:fact suite    ?z      - zone)
    (:fact desk     ?z      - zone)
  )

(:goal
    (and
      ([Kw. inspector] (leak-at l2_suite))
      ([Kw. porter]    (leak-at l2_suite))
      (<Kw. guest>     (leak-at l2_suite))
    )
  )