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Parameter splitting: don't move method preconditions behind earlier subtasks - #36
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…ubtasks A variable joins a split group only if its ordered occurrences lie in the group whose position was checked. Before, a non-static literal of a method precondition could be moved into a sub-method ordered after other subtasks of the method, so the grounded model accepted plans the HDDL model rejects (Barman-BDI, partial order).
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split_independent_parameterschecks that the chosen variable's orderedoccurrences form a contiguous group. It then adds every other variable whose
occurrences lie in that group's plan steps, without checking their ordered
occurrences. So a variable that also occurs in a non-static literal of the
method precondition can be added. That literal then moves into the new
sub-method, behind the subtasks ordered before the group. Under partial order,
sibling tasks can run between the method's start and the moved check, and the
grounded model accepts plans that violate the method precondition.
Example: IPC 2023 PO Barman-BDI, method
CleanFullShaker:(contains ?x_0 ?x_2)moves behindAchieveHolding. Onpfile03(groundedwith
-e),pandaPIengine --progression -H "rc2(ff;cost)" -g none --suboptimalreturns a plan that
pandaPIparser -vrejects. With this change it returns avalid plan.
Fix: a variable joins the group only if its ordered occurrences lie in the
group whose position was checked. Static literals can still move. On the
other ten IPC 2023 PO domains (two instances each), parser output is
unchanged.