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我正在尝试编写一个简单的 PDDL 域和问题,但 Planning.domains 上的规划器返回此错误:

{
  "killed": false,
  "code": 124,
  "signal": null,
  "cmd": "timeout 5 python /app/process_solution.py /tmp/solver_planning_domains_tmp_4myYaB2oSdNQC/domain.pddl /tmp/solver_planning_domains_tmp_4myYaB2oSdNQC/problem.pddl /tmp/solver_planning_domains_tmp_4myYaB2oSdNQC/plan /tmp/solver_planning_domains_tmp_4myYaB2oSdNQC/log"
}

如何进行调试?当我的语法不正确时,错误消息更有帮助。我尝试可视化对象层次结构和问题定义,但找不到问题。Torchlight 不适用于 ADL,其他分析工具似乎需要计划。有没有我应该使用的工具?

作为记录,这些是我的域和问题定义(基于 AIPS-1998程序集和 IPC 2011抓手域/问题):

(define (domain assembly-simple)
   (:requirements :adl)
   (:types assembly - object
           robot - robot)   
   (:predicates (available ?x - object)
        (complete ?a - assembly)
        (incorporated ?part ?whole - assembly)
        (part-of ?part ?whole - assembly)
        (assemble-order ?part1 ?part2 ?whole - assembly)
        (robot-carries-an-object ?r - robot)
        (robot-carries-this-object ?r - robot ?o - object))

    (:action pick
      :parameters (?robot - robot ?part - object)
      :precondition (and (available ?part)
                         (not (robot-carries-an-object ?robot)))
      :effect (and (robot-carries-an-object ?robot)
                   (robot-carries-this-object ?robot ?part)
                   (not (available ?part))))
    
    (:action assemble
      :parameters (?robot - robot ?part ?whole - assembly)
      :precondition (and  (robot-carries-this-object ?robot ?part)
                          (part-of ?part ?whole)
                          (forall (?prev - assembly)
                                  (imply (assemble-order ?prev ?part ?whole)
                                         (incorporated ?prev ?whole))))
      :effect (and 
                  (not (robot-carries-this-object ?robot ?part))
                  (not (robot-carries-an-object ?robot))
                  (incorporated ?part ?whole)
                  (not (available ?part))
                  (when (not (exists (?p - assembly)
                                     (and (part-of ?p ?whole)
                                          (not (= ?p ?part))
                                          (not (incorporated ?p ?whole)))))
                        (and (complete ?whole)
                             (available ?whole)))))
)

问题:

(define (problem simple-prob)
   (:domain assembly-simple)
   (:objects base-plate motor-plate sub-assembly - assembly
             bot - robot)
   (:init (not (robot-carries-an-object bot))
          (available base-plate)
          (available motor-plate)
          (available sub-assembly)
          (part-of base-plate sub-assembly)
          (part-of motor-plate sub-assembly)
          (assemble-order base-plate motor-plate sub-assembly))
          
   (:goal (complete sub-assembly)))

提前感谢您的任何指点。

4

1 回答 1

2

这里发生的错误实际上是由于解决方案的后处理,而不是规划器本身。该步骤需要更好的错误处理(我刚刚在这里创建了问题),但不幸的是,我暂时没有时间处理这个问题。

如果我不得不猜测,我的怀疑是后处理未处理的动作效果的复杂性。整个在线解决方案基础设施将在未来几周/几个月内进行大修,因此希望这个问题将作为其中的一部分得到解决。

如果您想以不同的方式测试事物,那么我建议考虑专用于规划工具的 Docker:https ://hub.docker.com/r/aiplanning/planutils

在那里,您应该能够运行downwardlama直接访问规划器。

于 2020-07-09T15:37:51.703 回答