the modplan workbench stefan edelkamp tilman mehler pg 463
TRANSCRIPT
The ModPlan The ModPlan WorkbenchWorkbench
Stefan EdelkampStefan Edelkamp
Tilman MehlerTilman Mehler
PG 463PG 463
OverviewOverview
Design GoalsDesign Goals System RequirementsSystem Requirements Infrastructure / Architecture Infrastructure / Architecture EssentialsEssentials ScreenshotsScreenshots SummarySummary
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
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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PATTERN
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ArchitectureArchitecture
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ArchitectureArchitecture
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)
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