the modplan workbench
DESCRIPTION
The ModPlan Workbench. Stefan Edelkamp Tilman Mehler PG 463. Overview. Design Goals System Requirements Infrastructure / Architecture Essentials Screenshots Summary. Design Goals. Interacive KE-Tool for AI Planning Accessible Domain and Plan Analysis PDDL Learning Capabilities - PowerPoint PPT PresentationTRANSCRIPT
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The ModPlan The ModPlan WorkbenchWorkbench
Stefan EdelkampStefan Edelkamp
Tilman MehlerTilman Mehler
PG 463PG 463
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OverviewOverview
Design GoalsDesign Goals System RequirementsSystem Requirements Infrastructure / Architecture Infrastructure / Architecture EssentialsEssentials ScreenshotsScreenshots SummarySummary
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Design GoalsDesign Goals
Interacive KE-Tool for AI PlanningInteracive KE-Tool for AI Planning Accessible Domain and Plan Analysis Accessible Domain and Plan Analysis PDDL Learning CapabilitiesPDDL Learning Capabilities Extending State-of-the-Art PlanningExtending State-of-the-Art Planning
Objective: Domain Experts Objective: Domain Experts assist assist solving hard Combinatorial Problemssolving hard Combinatorial Problems
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InfrastructureInfrastructure
Plattform: WindowsPlattform: Windows Distribution: All-Included CDDistribution: All-Included CD Environment: CYGWINEnvironment: CYGWIN Components: Java, C/C++, Python Components: Java, C/C++, Python GUI: wxWidgetsGUI: wxWidgets XML Editing: PolloXML Editing: Pollo Geometric Visualization: VEGAGeometric Visualization: VEGA
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LOAD
LEARN
TRANSLATE
PATTERN
VAL
VEGA
prob
lem.p
dd
l dom
ain.p
dd
l
groun
ded
*.pd
dl
OBJECTS
GROUND
ADL2STRIPS
sas+ob
jects
PLANNER1
DURATIVEFF
SYMM
POLLO
sequ
ential.soln
parallel.soln
SHOWSOLN
GOALORDERING sym
metries
pb
-n.p
dd
l
state-sequ
ence seq
uen
ce.run
pb
-1.pd
dl
PLANNERn
ArchitectureArchitecture
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LOAD
LEARN
TRANSLATE
PATTERN
VAL
VEGA
prob
lem.p
dd
l dom
ain.p
dd
l
groun
ded
*.pd
dl
OBJECTS
GROUND
ADL2STRIPS
sas+ob
jects
PLANNER1
DURATIVEFF
SYMM
POLLO
sequ
ential.soln
parallel.soln
SHOWSOLN
GOALORDERING sym
metries
pb
-n.p
dd
l
state-sequ
ence seq
uen
ce.run
pb
-1.pd
dl
PLANNERn
ArchitectureArchitecture
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LOAD
LEARN
TRANSLATE
PATTERN
VAL
VEGA
prob
lem.p
dd
l dom
ain.p
dd
l
groun
ded
*.pd
dl
OBJECTS
GROUND
ADL2STRIPS
sas+ob
jects
PLANNER1
DURATIVEFF
SYMM
POLLO
sequ
ential.soln
parallel.soln
SHOWSOLN
GOALORDERING sym
metries
pb
-n.p
dd
l
state-sequ
ence seq
uen
ce.run
pb
-1.pd
dl
PLANNERn
ArchitectureArchitecture
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LOAD
LEARN
TRANSLATE
PATTERN
VAL
VEGA
prob
lem.p
dd
l dom
ain.p
dd
l
groun
ded
*.pd
dl
OBJECTS
GROUND
ADL2STRIPS
sas+ob
jects
PLANNER1
DURATIVEFF
SYMM
POLLO
sequ
ential.soln
parallel.soln
SHOWSOLN
GOALORDERING sym
metries
pb
-n.p
dd
l
state-sequ
ence seq
uen
ce.run
pb
-1.pd
dl
PLANNERn
ArchitectureArchitecture
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LOAD
LEARN
TRANSLATE
PATTERN
VAL
VEGA
prob
lem.p
dd
l dom
ain.p
dd
l
groun
ded
*.pd
dl
OBJECTS
GROUND
ADL2STRIPS
sas+ob
jects
PLANNER1
DURATIVEFF
SYMM
POLLO
sequ
ential.soln
parallel.soln
SHOWSOLN
GOALORDERING sym
metries
pb
-n.p
dd
l
state-sequ
ence seq
uen
ce.run
pb
-1.pd
dl
PLANNERn
ArchitectureArchitecture
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LOAD
LEARN
TRANSLATE
PATTERN
VAL
VEGA
prob
lem.p
dd
l dom
ain.p
dd
l
groun
ded
*.pd
dl
OBJECTS
GROUND
ADL2STRIPS
sas+ob
jects
PLANNER1
DURATIVEFF
SYMM
POLLO
sequ
ential.soln
parallel.soln
SHOWSOLN
GOALORDERING sym
metries
pb
-n.p
dd
l
state-sequ
ence seq
uen
ce.run
pb
-1.pd
dl
PLANNERn
ArchitectureArchitecture
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LOAD
LEARN
TRANSLATE
PATTERN
VAL
VEGA
prob
lem.p
dd
l dom
ain.p
dd
l
groun
ded
*.pd
dl
OBJECTS
GROUND
ADL2STRIPS
sas+ob
jects
PLANNER1
DURATIVEFF
SYMM
POLLO
sequ
ential.soln
parallel.soln
SHOWSOLN
GOALORDERING sym
metries
pb
-n.p
dd
l
state-sequ
ence seq
uen
ce.run
pb
-1.pd
dl
PLANNERn
ArchitectureArchitecture
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EssentialsEssentials Multiple Grounding Modules (incl. SAS+ Encoding)Multiple Grounding Modules (incl. SAS+ Encoding) Object Symmetry Detection for Plans (new)Object Symmetry Detection for Plans (new) Goal Ordering and Goal Sequentializer (new)Goal Ordering and Goal Sequentializer (new) State Sequence Generation (VAL + Inlines)State Sequence Generation (VAL + Inlines) Plan Visualization/Animation (ShowSol + VEGA)Plan Visualization/Animation (ShowSol + VEGA) PDDL Inference (OpMaker + Durations and ADL-PDDL Inference (OpMaker + Durations and ADL-
Fragments, approximates Init and Goal)Fragments, approximates Init and Goal) Optimal Planning with PatternPlanOptimal Planning with PatternPlan (MIPS + Pattern Selection Module)(MIPS + Pattern Selection Module) Suboptimal Planning with DurativeFFSuboptimal Planning with DurativeFF (MetricFF + PERT + TimeWindows)(MetricFF + PERT + TimeWindows)
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SummarySummary Fully Integrated Environment for Windows, Fully Integrated Environment for Windows,
available on CDavailable on CD User Interaction: GUIs, Shells, Animation, XML User Interaction: GUIs, Shells, Animation, XML
and File Editingand File Editing Improves Accessibility and Complexity of Planning Improves Accessibility and Complexity of Planning
TechnologyTechnology Increasing Fraction of PDDL ExpressivenessIncreasing Fraction of PDDL Expressiveness
• Learning: SimpleTime, Limited ADLLearning: SimpleTime, Limited ADL• Precompilation: PDDL2.2Precompilation: PDDL2.2• DurativeFF: PDDL2.2DurativeFF: PDDL2.2• PatternPlan: STRIPS PatternPlan: STRIPS • Symmetry: PDDL2.2Symmetry: PDDL2.2• Goal Ordering: STRIPSGoal Ordering: STRIPS
Layered, Recursive ArchitectureLayered, Recursive Architecture