问题描述
我正在尝试使用 pddl 解决规划任务，我编写了以下域
(define (domain Monster)
(:requirements :strips)
(:predicates (player ?p) (location ?x) (monster ?m) (treasure ?tr) (trap ?tp) (weapon ?w) (flyer ?f) ;entities
(playerat ?player ?location) (monsterat ?monster ?location) (trapat ?trap ?location) (treasureat ?trasure ?location) (weaponat ?weapon ?location) (flyerat ?flyer ?location); relations
(gameOver ?p) (holdsw ?p) (holdsf ?p) (holdst ?p) (go ?A ?B) (close ?A ?B)
)
(:action Move ;Move from location A to location B
:parameters (?P ?A ?B ?M) ; P->Player A->Location_1 B->Location_2
:precondition (and(player ?P) (location ?A) (location ?B) (monster ?M) (playerat ?P ?A) (go ?A ?B) (not(monsterat ?M ?B)) )
:effect (and(playerat ?P ?B) (not(playerat ?P ?A)) )
)
(:action PickWeapon ; picking up weapon
:parameters (?P ?L ?W) ;P->player L->location W->Weapon
:precondition (and(player ?P) (location ?L) (weapon ?W) (playerat ?P ?L) (weaponat ?W ?L) )
:effect (and(holdsw ?P) (not(weaponat ?W ?L)))
)
(:action PickFlyer ;picking up flyer
:parameters (?P ?L ?F) ;P->player L->location F->flyer
:precondition (and(player ?P) (location ?L) (flyer ?F) (playerat ?P ?L) (flyerat ?F ?L) )
:effect (and(holdsf ?P) (not(flyerat ?F ?L)) )
)
(:action PickTreasure ;picking up treasure
:parameters (?P ?L ?T) ;P->player L->location T->treasure
:precondition (and(player ?P) (location ?L) (treasure ?T) (playerat ?P ?L) (treasureat ?T ?L) )
:effect (and(holdst ?P) (not(treasureat ?T ?L)) )
)
(:action PlayerKilled ;player killed
:parameters (?P ?L ?M) ;P->player L->location M->monster
:precondition (and(player ?P) (location ?L) (monster ?M) (playerat ?P ?L) (monsterat ?M ?L) (not(holdsw ?P)) (not(holdsf ?P)) )
:effect (and(gameOver ?P) (not(playerat ?P ?L)) ); Game Over
)
(:action PlayerTraped ;Player traped
:parameters (?P ?L ?TR) ;P->player L->location TR->trap
:precondition (and(player ?P) (location ?L) (trap ?TR) (playerat ?P ?L) (trapat ?TR ?L) (not(holdsf ?P)) )
:effect (and(gameOver ?P) (not(playerat ?P ?L)) )
)
(:action Kill ;Killing Monster
:parameters (?P ?A ?M ?B) ;P->player L->location M->monster
:precondition (and(player ?P) (location ?B) (location ?A) (monster ?M) (playerat ?P ?A) (monsterat ?M ?B) (holdsw ?P) (close ?A ?B) (go ?A ?B) )
:effect (and(playerat ?P ?B) (not(monsterat ?M ?B)) (not(holdsw ?P)) )
)
(:action FlyOverMonster
:parameters (?P ?F ?L ?A ?M) ;P->player L->location F->flyer M->monster
:precondition (and(player ?P) (location ?L) (location ?A) (monster ?M) (playerat ?P ?A) (monsterat ?M ?L) (holdsf ?P) (close ?A ?L) (go ?A ?L) )
:effect (and(playerat ?P ?L) (not(holdsf ?P)) )
)
(:action FlyOverTrap
:parameters (?P ?F ?L ?A ?TR) ;P->player L->location F->flyer TR->trap
:precondition (and(player ?P) (location ?L) (location ?A) (trap ?TR) (playerat ?P ?A) (trapat ?TR ?L) (holdsf ?P) (close ?A ?L) (go ?A ?L) )
:effect (and(playerat ?P ?L) (not(holdsf ?P)) )
)
)
problem 我将要计划的问题定义如下
(define (problem Monster2)
(:domain Monster)
(:objects a b c d e f g h i pl mo tp fl tr wp
)
(:init
(location a) (location b) (location c) (location d) (location e) (location f) (location g) (location h) (location i)
(player pl) (monster mo) (trap tp) (flyer fl) (treasure tr) (weapon wp)
(go a b) (go b a) (go b c) (go c b) (go c d) (go d c) (go a e) (go e b) (go e f) (go f d) (go e g) (go e h) (go h e) (go h i) (go i h)
(close b c) (close c d) (close e f)
(playerat pl a) (monsterat mo c) (treasureat tr d) (trapat tp f) (weaponat wp h) (flyerat fl i)
)
(:goal (and
(holdst pl)
(playerat pl a)
)
)
)
试图解决问题我改变了我的代码，但现在我面临另一个问题。杀死怪物后的代理人并没有去下一个房间而是他返回然后到d房间收集宝藏并留在d。奇怪的是，刨床说代理现在在 c 房间，而在下一个状态它说他在 b 房间。
计划结果
Planer Kill Monster agent at room c
计划结果 Planner Move next supposed to be room d and it says room b state which is wrong
解决方法
其实PDDL文件有几个错误。我用 FF 测试过。
在域文件中，您在不同的操作定义中遗漏了一些 AND 和几个括号，例如
(:action Kill
:parameters (?P ?L ?M ?A) ;P->player L->location M->monster
:precondition (and(player ?P) (location ?L) (location ?A) (monster ?M) (atp ?P ?A) (atm ?M ?L) (holdsw ?P ?W) (close ?A ?L) )
:effect (and (not(atm ?M ?L)) (not(holdsw ?P ?W)) (atp ?P ?L))
)
然后你忘记声明域定义中使用的一些谓词，例如at1...at6，位于
然后在操作 FlyOverMonster 和 FlyOverTrap 中，您忘记在操作 Kill 和 PlayerKilled.
在操作中 PlayerKilled 你有一个没有出现在其他任何地方的谓词保持。
我不继续了，但我希望更正是明确的。然后，规划者应该指出它遇到的错误类型。
,检查您的谓词名称，我不确定它们的名称和参数名称是否支持数字。
在您的问题中，我可以看到 at1、at2 等的出现......这些谓词的命名很奇怪，我怀疑它是否有效。
此外，它们并未在您的域中声明。