Action-restricted planning and goal planning - #4
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September 2, 2026 11:07
…abet A caller executing plans on real hardware often implements only part of the alphabet. Today plan_sync and plan_disambiguate may route through any action, so a returned word can contain a letter the caller cannot perform, and there is no way to ask for one that does not. Adds plan_sync_allowed and plan_disambiguate_allowed, taking the permitted actions explicitly. Existing entry points are untouched: plan_sync, plan_disambiguate and the _from_records and _uncached variants keep their signatures and behaviour, and the internal partition search treats a NULL action set as the whole alphabet, so their results are unchanged. The restricted merge search runs over the automaton rather than the pair oracle. A pair step is (delta(a,x), delta(b,x)), so the oracle's table is an optimisation rather than information here - and its precomputed merge_action cannot answer the question at all, since that action may be one the caller excluded. Staying automaton-only also means the restricted planner behaves the same whether a snapshot or an oracle was loaded, and needs neither. Disambiguation still uses a record source for its heuristic. A heuristic word is assembled from precomputed pair records, which know nothing about the caller's alphabet, so a word containing an excluded letter now falls through to the bounded search instead of being returned as a plan the caller cannot execute.
Reaching a target set of states is a different question from telling states apart, and there was no way to ask it. plan_goal searches over belief supports for a word that lands every hypothesis in a goal set, honouring the same restricted action alphabet. It is a breadth-first search over supports and needs no pair oracle, since reachability of a goal is not a distinguishability question. Reported as the new method BELIEF_BFS, so it is never confused with a synchronizing or resolving word. Separated from the action-restriction commit deliberately: that one closes a gap in existing planners, this one adds a capability that may be outside what this library is meant to cover. Taking one without the other is fine.
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Hey Guillermo,
I was integrating 0.4.0 into the setup and needed two things that aren't in there yet, so I added them:
Both additive.
plan_sync,plan_disambiguateand the_from_records/_uncachedvariants are untouched, and your tests pass unchanged.Best,
Vincent