Welcome to the Homepage of IPP

1997 - 1999

Project History: After the Dagstuhl Workshop on Control of Search in Planning, Jana Koehler decided to develop her own planning system as the topic of her habilitation thesis. It began with an extension of GRAPHPLAN to the ADL planning language handling conditional effects and more expressive preconditions. The first algorithm prototypes were discussed with Bernhard Nebel and Yannis Dimopoulos and soon the IPP planning system began to emerge. Bernhard Nebel later contributed the RIFO strategy to IPP. In march 1997 three students, Jörg Hoffmann, Frank Rittinger, and Michael Brenner, joined the team and implemented the first protopye of IPP as well as the subsequent revised versions. Version 3.3 won the ADL track of the first planning systems competition. In 1998, a first investigation into metric planning/resource-constrained planning started and experimental algorithms were implemented. At the same time, the whole IPP system was reimplemented, which required more effort than expected. Jörg Hoffmann took mainly care of this. Andreas Schön and Dietmar Jäckle joined the team temporarily in 1999 and contributed to the reimplementation resulting in IPP version 4.0. To enter the Planning Competition 2000, RIFO was integrated into IPP again and several bugs were fixed resulting in IPP 4.1.
Between July 1997 and December 1998 IPP source code has been downloaded more than 200 times and the system has been used in several other projects (see e.g. the AIPS 2000 proceedings for references). IPP was also used in two commercial environments: at Schindler for rapid prototyping of elevator domain models (with our permission) and at Celcorp as a source for own planning software development (without our permission).

Source Code Available

  1. IPP 4.1 as of 5/1/00. This is the last version of IPP fixing bugs in release 4.0 and containing RIFO again.

  2. IPP 4.0 as of 9/1/99. This version takes only PDDL syntax as input. The source code also contains files for the original IPP syntax, but they are not used anymore. A collection of domains in the PDDL input format and the PDDL handbook can also be downloaded. Note that you need to specify full names of files (which can be arbitrary) in the -o and -f arguments, while in IPP 1.0 to 3.3 you need to use the .ops extension for operator files and the .fct extension for factfiles, which are omitted in the -o and -f arguments). The main differences to version 3.3 are
    1. true negation, i.e. we have positive and negative atoms represented in the graph and goal sets are checked for consistency,
    2. an improved parser for PDDL-ADL including a correct normal form computation for general FOL formulas without function symbols,
    3. the new instantiation algorithm handling inertia, which encodes ground operators (actions) and states as bitvectors,
    4. the implicit graph representation, which generates only a single action and fact layer.

  3. IPP 3.3 as of 6/1/98 won the ADL track of the planning competition having improved performance and memory management compared to version 3.2. The version above takes IPP syntax as input. To download the competition variant using PDDL as input language follow this link . Syntax descriptions for operators and fact files for versions 3.0 to 3.3 are available, and there is a collection of domains.

  4. Only for historical reasons: IPP 3.2 as of 3/5/98, IPP 3.1 as of 2/6/98, IPP 3.0 as of 11/1/97, IPP 2.0 as of 6/1/97, IPP 1.0 as of 5/1/97 showing all our attempts to get the backward search correctly handle conditional effects in planning graphs, adding more details to the expressivity, and gradually improving the implementation techniques for subset memoization, mutex computation, and graph search.

  5. RIPP 0.1 as of 10/1/97. This is a very prototypical implementation of IPP with resources. The algorithm is incomplete and extremely slow. Some domains using resources are also available and there is a description of the syntax of operators and fact files that can be parsed. Note that equations are not supported by the algorithm.

Publications related to IPP and links to additional webpages that explain some of the IPP features in more detail and also contain code for XGV, the graphical displayer for planning graphs, and IPP 3.3 with the goal agenda manager integrated.

The future: IPP will not be further developed. Many new techniques are available, which should be worth integrating into the algorithm. These are in particular the TIM module of STAN and the dectection of symmetries, which is described in the IJCAI-99 paper by Fox & Long. Some of the IPP ideas are also further pursued in the FF planner developed by Joerg Hoffmann, which is based on heuristic forward search.

Besides this, it seems to be worth to get rid of Graphplan's no-ops and build planning graphs that are no-op free, because no-ops cause a huge overhead in the computation of mutexes. In many domains, one has just a few hundred "real" ground actions, but many thousands facts each of them requiring a no-op. I also argue that keeping a disjunctive normal form of preconditions could be more effective than the conjunctive normal form and the separation of different disjunctive preconditions into different actions. Both changes will require a modification of the backward search algorithm.

As for planning with metric constraints, I believe that using planning graphs and a backward search algorithm is not the most promising way to go. To solve such problems, which are extremely important for practical applications of planning systems, a forward searching algorithm appears more promising to me.

Jana Koehler, 10/15/2006