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Hierarchical Task Network (HTN) PlanningPowerPoint Presentation

Hierarchical Task Network (HTN) Planning

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## PowerPoint Slideshow about ' Hierarchical Task Network (HTN) Planning' - abra-weaver

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Reminder

- JSHOP and JSHOP2 come with some sample domain files.
- You CANNOT use those files.
- Need to write your own.

HTN vs Classical

- Like classical planning:
- Each state of the world is represented by a set of atoms
- Each action corresponds to a deterministic state transition
- (block b1) (block b2) (block b3) (block b4) (on-table b1) (on b2 b1) (clear b2) (on-table b3) (on b4 b3) (clear b4)

HTN vs Classical

- Differs:
- Objective: to perform a set of tasks not a set of goals
- Terms, literals, operators, actions, plans have same meaning as classical planning.
- Added tasks, methods, task networks
- Tasks decompose into subtasks
- Constraints
- Backtrack if necessary

will be executed later

DecompositionNon-primitive task

method instance

precond

Non-primitive task

primitive task

primitive task

operator instance

operator instance

precond

effects

precond

effects

s0

s1

s2

Tasks vs Control Rules

- We saw control rules – actions NOT to consider
- HTN – actions and tasks to consider

Control Rules

- Classical planning efficiency suffers from combinatorial complexity (intractable)
- Prune function detects and cuts unpromising nodes
- Can improve solving: exponential to polynomial

- Φ1(c,d,p) = [GOAL(in(c,p)) q GOAL(in(c,q))] [GOAL(on(c,d) e GOAL(on(c,e))]
- No goal requiring c in another pile or on top of something else (prune if exist?)
- Holds if acceptable when container c is on item d in pile p

By: Steve Lee-Urban

HTN

- Instead of detecting and cutting unpromising nodes
- HTN methods are only applied only when the preconditions are satisfied.
(:method (pick-up ?x)((clear ?x))

((!pick-up ?x))

)

D2

D3

D1

D2

D3

P1

P2

P3

P

Domain

Planner

Planning procedures

Domain- Domain dependent – Bridge Baron game
- Domain independent – SHOP

HTN

- Domain consists of
- methods and operators (SHOP- axioms)

- Problem consists of
- domain, initial state, initial task network (tasks to accomplish, with some ordering of the tasks defined)

- Solution
- A plan: Totally ordered collection of primitive tasks (SHOP)
- General HTN planner - partially ordered collection of primitive tasks.

TASK

- Task: an expression of the form t(u1,…,un)
- t is a task symbol, and each ui is a term (variable, constant, function expression (f t1 t2 tn)
- (move-block ?nomove)
- (move-block (list ?x . ?nomove))

- Two types of task
- Non-primitive (compound) – decomposed into subtasks.
- Primitive – cannot be decomposed, know how to perform directly (task name is the operator name).
- (!drive-truck ?truck ?loc-from ?loc-to)

Methods and Operators

- Defined a little differently in the textbook, but we’re more concerned with coding it in SHOP so forget the book for now (book notations later on).
- Explain both with an example instead of notations.
- Spent a good amount of time arranging the next slide
- Help to visualize how they map to a real shop method or operator.

- method as defined by SHOP (see manual)
(:method h [n1] C1 T1[n2] C2 T2 … [nk] Ck Tk)

- h method head – task atom with no call terms
- [n1] OPTIONAL name for succeeding Ci Ti pair
- C1 conjunct or tagged conjunct? Precondition list??
- T1 task list

- Operator
(:operator h P D A)

- h head – primitive task atom with no call terms
- P precondition list (logical atoms)
- D delete list (logical atoms)
- A add list (logical atoms)

preconditions

Primitive

task

Subtasks list

preconditions

prim task

delete list

Add list

Operators and Methods- Method ( decomposes into subtasks)
(:method (drive-truck ?truck ?loc-from ?loc-to)

((same ?loc-from ?loc-to))

((!do-nothing))

()

((!drive-truck ?truck ?loc-from ?loc-to)))

- Notice the if else structure
- Invoke non-primitive task: (drive-truck ?t ?x ?y)

- Operator (achieves PRIMITIVE TASKS)
(:operator (!drive-truck ?truck ?locfrom ?locto)

()

((truck-at ?truck ?locfrom))

((truck-at ?truck ?locto)))

Invoke primitive task: (!drive-truck ?t ?l1 ?l2)

Review

- Relationship between non-primitive tasks and methods
- Decomposed by applying a method

- Relationship between primitive tasks and operators
- Primitive task is achieved by applying an operator

- Important that you understand this!!!

STN and HTN

- STN – Simple Task Network (simplified version of HTN)
- TFD – Total-order Forward Decomposition (used in SHOP)
- Example later
Input: tasks are totally ordered

Output: totally ordered plan

- Example later
- PFD – Partial-order Forward Decomposition (SHOP2)
- Example later
Input: tasks are partially ordered

Output: totally ordered plan

- Example later

- TFD – Total-order Forward Decomposition (used in SHOP)
- HTN – generalization of STN
- More freedom about how to construct the task networks.
- Can use other decomposition procedures not just forward-decomposition.
- Like Partial-order planning combined with STN
Input: partial-order tasks

Output: The resulting plan is partially ordered

Task Network

- STN
w = (U, E) - an acyclic graph

U – set of task nodes

E – set of edges

- HTN
w = (U, C)

U – set of task nodes

C – set of constraints (allow for generic task networks). Different planning procedures.

STN

- STN method: 4-tuple
m = (name(m), task(m), precond(m), subtasks(m))

- name(m): an expression of the form n(x1,…,xn)
- n – name of the method – method symbol
- x1,…,xnare parameters - variable symbols

- task(m): a nonprimitive task
- task that this method could apply to
- In SHOP, the task is the head of the method.

- precond(m): preconditions (literals)
- subtasks(m): a sequenceof tasks t1, …, tk
do-nothing(p,q)

task: move-stack(p,q)

precond: top(pallet,p)

subtasks: ()

- name(m): an expression of the form n(x1,…,xn)

Pseudo-code for TFD

Applying an operator

Changing the state

Randomly pick an applicable method

Decompose method into tasks

DWR

- Move the containers, preserving ordering
- Use loc1 as example.

TFD & PFD

- STN doesn’t allow parallel execution, but can interleave steps (PFD)
- At the end the resulting plan is totally ordered (both TFD & PFD)

SHOP & SHOP2

- SHOP: Simple Hierarchical Ordered Planner
- SHOP is basically TFD STN
- SHOP2 is PFD STN – mainly with the addition of the unordered keyword for the task list. Note: resulting plan is still a totally-ordered task list.

Prefix Notation

- Domain and problem file are in Lisp like format.
- 7 + 3
- (+ 7 3)
- p(a,?x) -> (p a ?x)
- Any volunteer? p(f (a,b), ?y)
- Answer: (p (f a b) ?y)
- (call + 3 7)

Axioms (Horn clauses)

- (:- a C1 C2 C3 … Cn)
- a is true if C1 is true, else if C1 is false and C2 is true, or else if C1 to Cn-1 is false and Cn is true.

- (:- (same ?x ?x) nil)
- (same 5 5)
- (same 5 7)

Above Example

- (:- (above ?a ?b) ((on ?a ?b)))
- (:- (above ?a ?b) ((on ?a ?c) (above ?c ?b)))
- S0 = (on 1 2) (on 2 3) (on 3 4)
- Is (above 1 4) true?
- (on 1 2) (above 2 4)
- (on 1 2) (on 2 3) (above 3 4)
- (on 1 2) (on 2 3) (on 3 4)
- When all conjuncts are true, (above 1 4) is true.

JSHOP

- Domain file: operators, methods, axioms
- Problem file: initial state, initial task list (goals)
- On Vega in /home/hah3/jshop
- To run one of the sample problem
java umd.cs.shop.JSJshop logistic/logistic.shp logistic/Log_ran_problems_10.shp 1 all > output.txt

java –jar shop.jar logistic/logistic.shp logistic/Log_ran_problems_10.shp 1 all > output.txt

java umd.cs.shop.JSJshop domainfile problemfile logLevel numofplan

For reference:

- JSHOP manual in the jshop directory
- http://www.cs.umd.edu/~nau/papers/shop-ijcai99.pdf
- Contact me [email protected]

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