Participating Planners
On this page, we provide information about all competing planners, categorized by the tracks in which they competed. This page is likely to change as the IPC evolves and it is provided for the sake of information among all participants. There are, in total, 55 planners.
Participants are encouraged to add links to their planners' homepages here. Also, feel free to annotate your name with a link to your homepage with the wiki's edit functionality.
A booklet with the papers of all the participating planners can be downloaded from here.
Sequential Satisficing Track
38 planners registered (considering also different versions of the same planner), out of which 11 withdrew:
ACOPlan (acoplan)
ACOPlan2 (acoplan2)
- Team members: Marco Baioletti, Alfredo Milani, Valentina Poggioni, Fabio Rossi
Arvand (arvand)
Team members: Hootan Nakhost, Martin Mueller, Richard Valenzano, Fan Xie
BRT (brt)
- Team members: Vidal Alcázar, Manuela Veloso
CBP (cbp)
CBP2 (cbp2)
- Team members: Raquel Fuentetaja
Roamer (roamer)
- Team members: Qiang Lu, You Xu, Ruoyun Huang, Yixin Chen
CPT4 (cpt4)
Team members: Vincent Vidal
DAE-YAHSP (dae_yahsp)
Team members: Johann Dréo, Marc Schoenauer, Pierre Saveant, Vincent Vidal
Fast Downward Autotune-1 (fd-autotune-1)
Fast Downward Autotune-2 (fd-autotune-2)
Team members: Chris Fawcett, Malte Helmert, Holger Hoos, Erez Karpas, Gabi Röger, Jendrik Seipp
Websites: Fast Downward, ParamILS
Fast Downward Stone Soup-1 (fdss-1)
Fast Downward Stone Soup-2 (fdss-2)
Team members: Malte Helmert, Erez Karpas, Silvia Richter, Gabi Röger, Jendrik Seipp
Fork Uniform (forkuniform)
Team members: Michael Katz, Carmel Domshlak
LAMA-2008 (lama2008)
LAMA-2011 (lama2011)
Team members (LAMA-2008): Silvia Richter, Matthias Westphal
Team members (LAMA-2011): Silvia Richter, Matthias Westphal, Malte Helmert, Gabi Röger
Lamar (lamar)
- Team members: Alan Olsen, Daniel Bryce
LPRPG-P (lprgpg)
- Team members: Amanda Coles, Andrew Coles
Madagascar (madagascar)
Madagascar-p (madagascar-p)
- Team members: Jussi Rintanen
POPF2 (popf2)
- Team members: Amanda Coles, Andrew Coles, Maria Fox, Derek Long
Probe (probe)
- Team members: Nir Lipovetzky, Héctor Geffner
Randward (randward)
- Team members: Alan Olsen, Daniel Bryce
SATPLANLM-C (satplanlm-c)
- Team members: Dunbo Cai, Minghao Yin
Sharaabi (sharaabi)
- Team members: Bharat Ranjan Kavuluri
YAHSP2 (yahsp2)
YAHSP2-MT (yahsp2-mt)
Team members: Vincent Vidal
In some cases, only the contact person is listed so that the team members are likely to change.
Due to the large number of participants, PDDL support features are listed in three different tables
Planner |
acoplan |
acoplan2 |
arvand |
brt |
cbp |
cbp2 |
roamer |
cpt4 |
dae_yahsp |
supports predicate representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports object fluent representations |
no |
no |
no |
no |
no |
no |
no |
no |
no |
supports typed representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports untyped representations |
no |
no |
yes |
(yes) |
no |
no |
yes |
(yes) |
(yes) |
supports schematic representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports grounded representations |
no |
no |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
yes |
yes |
supports negative conditions |
no |
no |
(yes) |
(yes) |
yes |
yes |
yes |
no |
no |
supports ADL conditions |
no |
no |
(yes) |
(yes) |
yes |
yes |
yes |
no |
no |
supports conditional effects |
no |
no |
(yes) |
(yes) |
yes |
yes |
yes |
no |
no |
supports universal effects |
no |
no |
(yes) |
(yes) |
yes |
yes |
yes |
no |
no |
supports derived predicates |
no |
no |
(yes) |
(yes) |
no |
no |
yes |
no |
no |
compiles and runs |
|
|
|
|
|
|
|
|
|
special |
|
|
|
|
|
|
|
|
|
Planner |
fd-autotune-1 |
fd-autotune-2 |
fdss-1 |
fdss-2 |
forkuniform |
lama-2008 |
lama-2011 |
lamar |
lprpgp |
supports predicate representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports object fluent representations |
no |
no |
no |
no |
no |
no |
no |
no |
no |
supports typed representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports untyped representations |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
supports schematic representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
(yes) |
supports grounded representations |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
yes |
supports negative conditions |
(yes) |
(yes) |
(yes) |
(yes) |
no |
(yes) |
(yes) |
(yes) |
no |
supports ADL conditions |
(yes) |
(yes) |
(yes) |
(yes) |
no |
(yes) |
(yes) |
(yes) |
no |
supports conditional effects |
(yes) |
(yes) |
(yes) |
(yes) |
no |
(yes) |
(yes) |
(yes) |
no |
supports universal effects |
(yes) |
(yes) |
(yes) |
(yes) |
no |
(yes) |
(yes) |
(yes) |
yes |
supports derived predicates |
(yes) |
(yes) |
(yes) |
(yes) |
no |
(yes) |
(yes) |
(yes) |
no |
compiles and runs |
|
|
|
|
|
|
|
|
|
special |
|
|
|
|
|
|
|
|
[1] |
Planner |
madagascar |
madagascar-p |
popf2 |
probe |
randward |
satplanlm-c |
sharaabi |
yahsp2 |
yahsp2-mt |
supports predicate representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports object fluent representations |
no |
no |
no |
no |
no |
no |
no |
no |
no |
supports typed representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports untyped representations |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
no |
no |
(yes) |
(yes) |
supports schematic representations |
(yes) |
(yes) |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports grounded representations |
yes |
yes |
(yes) |
yes |
(yes) |
no |
no |
yes |
yes |
supports negative conditions |
yes |
yes |
no |
yes |
(yes) |
no |
no |
no |
no |
supports ADL conditions |
yes |
yes |
no |
no |
(yes) |
no |
no |
no |
no |
supports conditional effects |
yes |
yes |
no |
no |
(yes) |
no |
no |
no |
no |
supports universal effects |
yes |
yes |
yes |
yes |
(yes) |
no |
no |
no |
no |
supports derived predicates |
no |
no |
no |
no |
(yes) |
no |
no |
no |
no |
compiles and runs |
|
|
|
|
|
|
|
|
|
special |
|
|
[2] |
|
|
|
|
|
|
[1]: This planner requires lp-solve, cblas and clapack. Besides, it requires CPLEX and the license can be obtained from http://www-01.ibm.com/software/websphere/products/optimization/academic-initiative/index.html
[2]: This planner requires Clp, Coinutils, Cbc, Cgl and OSI
Entries in parentheses denote PDDL features which are supported by the planner, but inputs not using the feature are preferred.
Sequential optimization track
24 planners registered (considering also different versions of the same planner), out of which 12 withdrew:
BJOLP (bjolp)
Team members: Erez Karpas, Carmel Domshlak, Malte Helmert, Emil Keyder, Silvia Richter, Gabi Röger, Jendrik Seipp, Matthias Westphal
CPT4 (cpt4)
Team members: Vincent Vidal
Fast Downward Autotune (fd-autotune)
Team members: Chris Fawcett, Malte Helmert, Holger Hoos, Erez Karpas, Gabi Röger, Jendrik Seipp
Websites: Fast Downward, ParamILS
Fast Downward Stone Soup-1 (fdss-1)
Fast Downward Stone Soup-2 (fdss-2)
Team members: Malte Helmert, Jörg Hoffmann, Erez Karpas, Emil Keyder, Raz Nissim, Silvia Richter, Gabi Röger, Jendrik Seipp, Matthias Westphal
Fork Init (forkinit)
Team members: Michael Katz, Carmel Domshlak
Gamer (gamer)
Team members: Peter Kissmann, Stefan Edelkamp
IFork Init' (iforkinit)
Team members: Michael Katz, Carmel Domshlak
LM-cut (lmcut)
Team members: Malte Helmert, Carmel Domshlak
LMFork (lmfork)
Team members: Michael Katz, Carmel Domshlak
Merge and Shrink (merge-and-shrink)
Team members: Raz Nissim, Malte Helmert, Jörg Hoffmann
Selective Max (selmax)
Team members: Erez Karpas, Carmel Domshlak, Malte Helmert, Shaul Markovitch
In some cases, only the contact person is listed so that the team members are likely to change.
Due to the large number of participants, PDDL support features are listed in two different tables
Planner |
bjolp |
cpt4 |
fd-autotune |
fdss-1 |
fdss-2 |
supports predicate representations |
yes |
yes |
yes |
yes |
yes |
supports object fluent representations |
no |
no |
no |
no |
no |
supports typed representations |
yes |
yes |
yes |
yes |
yes |
supports untyped representations |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
supports schematic representations |
yes |
yes |
yes |
yes |
yes |
supports grounded representations |
(yes) |
yes |
(yes) |
(yes) |
(yes) |
supports negative conditions |
no |
no |
no |
no |
no |
supports ADL conditions |
no |
no |
no |
no |
no |
supports conditional effects |
no |
no |
no |
no |
no |
supports universal effects |
no |
no |
no |
no |
no |
supports derived predicates |
no |
no |
no |
no |
no |
compiles and runs |
|
|
|
|
|
special |
|
|
|
|
|
Planner |
forkinit |
gamer |
iforkinit |
lmcut |
lmfork |
merge-and-shrink |
selmax |
supports predicate representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports object fluent representations |
no |
no |
no |
no |
no |
no |
no |
supports typed representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports untyped representations |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
supports schematic representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports grounded representations |
(yes) |
no |
(yes) |
(yes) |
(yes) |
(yes) |
(yes) |
supports negative conditions |
no |
yes |
no |
no |
no |
no |
no |
supports ADL conditions |
no |
yes |
no |
no |
no |
no |
no |
supports conditional effects |
no |
no |
no |
no |
no |
no |
no |
supports universal effects |
no |
yes |
no |
no |
no |
no |
no |
supports derived predicates |
no |
no |
no |
no |
no |
no |
no |
compiles and runs |
|
|
|
|
|
|
|
special |
[1] |
|
[1] |
|
[1] |
|
|
[1]: The planners uses Mosek LP solver (obtainable at http://www.mosek.com/, with free academic license obtainable at https://www.mosek.com/cgi-bin/student.py)
Entries in parentheses denote PDDL features which are supported by the planner, but inputs not using the feature are preferred.
Sequential Multi-Core
12 planners registered (considering also different versions of the same planner), out of which 4 withdrew:
ACOPlan (acoplan)
- Team members: Marco Baioletti, Alfredo Milani, Valentina Poggioni, Fabio Rossi
Arvand Herd (arvandherd)
Team members: Hootan Nakhost, Martin Mueller, Jonathan Schaeffer, Nathan Sturtevant, Richard Valenzano
ay-Also-Plan Threaded (ayalsoplan)
- Team members: Juhan Ernits, Charles Gretton
Roamer-p (roamer-p)
- Team members: You Xu, Qiang Lu, Ruoyun Huang, Yixin Chen
Madagascar (madagascar)
Madagascar-p (madagascar-p)
- Team members: Jussi Rintanen
PHSFF (phsff)
- Team members: Moisés Martínez
YAHSP2-MT (yahsp2-mt)
Team members: Vincent Vidal
In some cases, only the contact person is listed so that the team members are likely to change.
Planner |
acoplan |
arvandherd |
ayalsoplan |
roamer-p |
madagascar |
madagascar-p |
phsff |
yahsp2-mt |
supports predicate representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports object fluent representations |
no |
no |
no |
no |
no |
no |
no |
no |
supports typed representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports untyped representations |
no |
yes |
(yes) |
yes |
(yes) |
(yes) |
(yes) |
(yes) |
supports schematic representations |
yes |
yes |
yes |
yes |
(yes) |
(yes) |
no |
yes |
supports grounded representations |
no |
(yes) |
(yes) |
(yes) |
yes |
yes |
yes |
yes |
supports negative conditions |
no |
(yes) |
(yes) |
yes |
yes |
yes |
yes |
no |
supports ADL conditions |
no |
(yes) |
(yes) |
yes |
yes |
yes |
yes |
no |
supports conditional effects |
no |
(yes) |
(yes) |
yes |
yes |
yes |
no |
no |
supports universal effects |
no |
(yes) |
(yes) |
yes |
yes |
yes |
no |
no |
supports derived predicates |
no |
(yes) |
(yes) |
yes |
no |
no |
no |
no |
compiles and runs |
|
|
|
|
|
|
|
|
special |
|
|
|
|
|
|
|
|
Entries in parentheses denote PDDL features which are supported by the planner, but inputs not using the feature are preferred.
Temporal satisficing
14 planners registered (considering also different versions of the same planner), out of which 6 withdrew:
CPT4 (cpt4)
Team members: Vincent Vidal
DAEYAHSP (dae_yahsp)
Team members: Johann Dréo, Marc Schoenauer, Pierre Savéant, Vincent Vidal
LMTD (lmtd)
- Team members: Yanmei Hu, Dunbo Cai, Minghao Yin
POPF2 (popf2)
- Team members: Amanda Coles, Andrew Coles, Maria Fox, Derek Long
Sharaabi (sharaabi)
- Team members: Bharat Ranjan Kavuluri
TLP-GP (tlp-gp)
- Team members: Frederic Maris, Pierre Regnier
YAHSP2 (yahsp2)
Team members: Vincent Vidal
YAHSP2-MT (yahsp2-mt)
Team members: Vincent Vidal
In some cases, only the contact person is listed so that the team members are likely to change.
Planner |
cpt4 |
dae_yahsp |
lmtd |
popf2 |
sharaabi |
tlp-gp |
yahsp2 |
yahsp2-mt |
supports predicate representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports object fluent representations |
no |
no |
no |
no |
no |
no |
no |
no |
supports typed representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports untyped representations |
(yes) |
(yes) |
no |
(yes) |
(yes) |
yes |
(yes) |
(yes) |
supports schematic representations |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
yes |
supports grounded representations |
yes |
yes |
no |
(yes) |
no |
yes |
yes |
yes |
supports negative conditions |
no |
no |
no |
no |
no |
no |
no |
no |
supports ADL conditions |
no |
no |
yes |
no |
no |
no |
no |
no |
supports conditional effects |
no |
no |
yes |
no |
no |
no |
no |
no |
supports universal effects |
no |
no |
yes |
yes |
no |
no |
no |
no |
supports derived predicates |
no |
no |
no |
no |
no |
no |
no |
no |
supports numeric state variables |
no |
no |
yes |
yes |
yes |
no |
no |
no |
supports timed initial literals |
no |
no |
no |
yes |
yes |
yes |
no |
no |
compiles and runs |
|
|
|
|
|
|
|
|
special |
|
|
|
[1] |
|
|
|
|
[1]: This planner requires Clp, Coinutils, Cbc, Cgl and OSI
Entries in parentheses denote PDDL features which are supported by the planner, but inputs not using the feature are preferred.