AI Planning Annotation for Sample Efficient Reinforcement Learning

The RL environment maintains the states of the grounded logistics planning domain. In the experiment, we define a planning task as an abstract planning task that is defined over the subset of the predicates and actions in the grounded logistics planning task. Therefore, the state mapping function is a projection of logical variables from an RL state to its planning state. The PDDL domain file used for the RL task is desribed as follows.