Sample Result for 4 blocks
The following problem with 4 block was generated:
block initial goal
1
3 4
2
4 table
3 table
2
4 table
3
Plan:
1: 2 to table
2: 1 to table
3: 3 to 2
4: 4 to 3
5: 1 to 4
In the results below numbers have been substituted with letters.
UCPOP result:
Initial : ((BLOCK A) (BLOCK B) (BLOCK C) (BLOCK D) (BLOCK TABLE) (ON A C) (ON C TABLE) (ON B D) (ON D TABLE) (CLEAR A) (CLEAR B) (CLEAR TABLE))
Step 1 : (PUTON A TABLE C) Created
2
0
-> (CLEAR TABLE)
0
-> (CLEAR A)
0
-> (ON A C)
Step 2 : (PUTON B TABLE D) Created
3
0
-> (CLEAR TABLE)
0
-> (CLEAR B)
0
-> (ON B D)
Step 3 : (PUTON C B TABLE) Created
5
0
-> (CLEAR B)
2
-> (CLEAR C)
0
-> (ON C TABLE)
Step 4 : (PUTON D C TABLE) Created
4
2
-> (CLEAR C)
3
-> (CLEAR D)
0
-> (ON D TABLE)
Step 5 : (PUTON A D TABLE) Created
1
3
-> (CLEAR D)
0
-> (CLEAR A)
2
-> (ON A TABLE)
Goal : (AND (ON A D) (ON D C) (ON C B))
5
-> (ON C B)
4
-> (ON D C)
1
-> (ON A D)
Facts:
Complete!
UCPOP Stats: Initial terms = 12; Goals = 4 ; Success
(5 steps)
Created 185 plans, but explored only
110
CPU time: 48.1100 sec
Branching factor: 1.491
Working Unifies: 1506
Bindings Added: 523
#plan<S=6; O=0; U=0; F=0>
#Stats:<cpu time = 48.1100>
Graphplan result:
time: 1, 11 facts and 16 exclusive pairs.
time: 2, 15 facts and 36 exclusive pairs.
time: 3, 17 facts and 48 exclusive pairs.
time: 4, 23 facts and 116 exclusive pairs.
time: 5, 25 facts and 129 exclusive pairs.
Goals reachable at 5 steps but mutually exclusive.
time: 6, 25 facts and 106 exclusive pairs.
Goals reachable at 6 steps but mutually exclusive.
time: 7, 25 facts and 96 exclusive pairs.
Goals first reachable in 7 steps.
419 nodes created.
goals at time 8:
on_blockA_blockD on_blockD_blockC on_blockC_blockB
Can't solve in 7 steps
time: 8, 25 facts and 96 exclusive pairs.
82 new nodes added.
goals at time 9:
on_blockA_blockD on_blockD_blockC on_blockC_blockB
Can't solve in 8 steps
time: 9, 25 facts and 96 exclusive pairs.
82 new nodes added.
goals at time 10:
on_blockA_blockD on_blockD_blockC on_blockC_blockB
Can't solve in 9 steps
time: 10, 25 facts and 96 exclusive pairs.
82 new nodes added.
goals at time 11:
on_blockA_blockD on_blockD_blockC on_blockC_blockB
1 UNSTACK_blockB_blockD
2 PUT-DOWN_blockB
3 UNSTACK_blockA_blockC
4 PUT-DOWN_blockA
5 PICK-UP_blockC
6 STACK_blockC_blockB
7 PICK-UP_blockD
8 STACK_blockD_blockC
9 PICK-UP_blockA
10 STACK_blockA_blockD
12 entries in hash table, 11 hash hits, avg set size 5.
32 total set-creation steps (entries + hits + plan length - 1).
22 actions tried
0.05 secs