Suchergebnisse
Suchergebnisse:
pddblsコマンドは，シングルサーバ又はシステムマネジャがあるサーバマシンで実行してください。 RDエリア名に，ユーザ用RDエリア又はユーザLOB用RDエリアを指定する場合は，データディクショナリ用RDエリアが次のどちらかの状態でなければなりません。
The pddbls command must be executed at the server machine containing the single server or the server machine where the system manager is located. When a user RDAREA or a user LOB RDAREA is specified, the corresponding data dictionary RDAREA must be in one of the following statuses:
Specifies the name of a server when the status of all of that server's RDAREAs is to be displayed. The command displays information about all RDAREAs for the specified server. A maximum of 128 server names can be specified. If more than 128 server names are specified, the excess names are ignored.
- Overview
- Introduction
- Environment Setup
- Components of PDDL
- PDDL Syntax
- Simple Example: Let's Eat!
- Not-as-Simple Example
- Past the Basics
- Contributions
- References
NOTICE: This is a work in progress and is being updated weekly.
Welcome to LearnPDDL, a short guide to getting started with using PDDL.
This guide is designed for first-time readers, people who need refreshers and others, like myself, who sometimes need some syntax sanity-checking.
If you read anything here that you believe needs improvement, contribute to it on GitHub.
PDDL one of the few languages designed for the purpose of creating a standard for Artificial Intelligence (AI) planning. It was developed in 1998 and was introduced at ICAPS, with improvements and extensions being built into it over the years [1].
The most popular of PDDL used today are PDDL2.1, which is an extension to PDDL for expressing temporal domains [2]; PDDL 3 [3] which adds trajectory constraints and preferences to PDDL 2.1, and PDDL+ [4] which allows modelling mixed discrete-continuous domains in PDDL.
You can use your own text editor, the online editor at planning.domains, but I would recommend using Visual Studio Code with the PDDL extension, which will give you syntax higlighting, hover-over information, auto-completion, plan visualization and validation and more. It also automatically downloads the VAL binaries and.
Before we start writing PDDL, we need to understand what how to model a "world" in PDDL.
A world is described by a set of states, each containing a list of facts and/or objects. A world begins with an initial state, and is governed by a set of rules and constraints that limit which actions can be taken in each state, and each action generally represents a transition to a different state.
There are certain things we need to keep track of in the "world".
•Objects: Things in the world that interest us.
•Predicates: Facts that we are interested in (e.g. properties of objects), which can be true or false.
•An initial state: The state of the world that we start in, i.e. things that are true at the start.
The Domain File
The domain file establishes the context of the world. It determines what sorts of details the states can include (predicates), and what can we do to move between states in the world (actions). The basic syntax of a domain file is: where is the name of the world. Both predicates and actions will become clearer in examples below.
The Problem File
The problem file represents an instance of the world we established in the domain. It determines what is true at the start of the plan (initial state), and what we want to be true at the end of the plan (goal state). The basic syntax of a problem file is: where is the title of the problem file and refers to the name of the corresponding domain file.
Let's imagine we have a robot gripper arm, a cupcake and a plate. The gripper is empty, the cupcake is on the table and we want to put the cupcake on the plate.
Before we model this in PDDL, let's look at the components of the PDDL problem:
First we define the domain.
Then we define the objects: plate, gripper, cupcake. We will also mark the cupcake and the arm as locatable, a little hack to help us query the locations of these objects using a predicate we'll create later.
We also need to define some predicates. Is the gripper arm empty? Where is the cupcake?
We'll also have to define actions/operators. We need to be able to pick up and drop the cupcake, as well as move the arm between the table and the plate.
If you want to check out something a bit more complex, check out the driverlog domain.
Durative Actions
You can actually give actions durations to work in temporal domains. Each condition and effect is given the time at which it's supposed to happen. There are a few types of temporal constraints: (at start ( )), which means this must be true or happen at the start of the action. (at end ( )) , which means this must be true or happen at the end of the action. (over all ( )), which means this must be true for the full duration of the action. Below is an example of the (move) action from our previous example transformed into a durative action.
Functions
TBC
Processes & Events
TBC
[1] PDDL's Wikipedia Page
[2] Fox, M. and Long, D. (2003). PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains. [online] Available at: http://www.jair.org/papers/paper1129.html [Accessed 20 Nov. 2017].
[3] Gerevini, A. and Long, D. (2005) Plan Constraints and Preferences in PDDL3. Volume 27, pages 235-297. [online] Available at http://www.cs.yale.edu/homes/dvm/papers/pddl-ipc5.pdf
[4] Fox, M. and Long, D. (2006) Modelling Mixed Discrete-Continuous Domains for Planning. Volume 27, pages 235-297. [online] Available at http://www.jair.org/papers/paper2044.html
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