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Hierarchical Task Network (HTN) Planning. Hai Hoang 4/17/2007. 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

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Presentation Transcript
reminder
Reminder
  • JSHOP and JSHOP2 come with some sample domain files.
  • You CANNOT use those files.
  • Need to write your own.
htn vs classical
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 classical1
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
decomposition

Shows the order plan

will be executed later

Decomposition

Non-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
Tasks vs Control Rules
  • We saw control rules – actions NOT to consider
  • HTN – actions and tasks to consider
control rules
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

slide8

Only pick up if x is on top

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))

)

domain

D1

D2

D3

D1

D2

D3

P1

P2

P3

P

Domain

Planner

Planning procedures

Domain
  • Domain dependent – Bridge Baron game
  • Domain independent – SHOP
slide10
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.
slide11
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
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)
operators and methods

Non prim

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
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 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

    • PFD – Partial-order Forward Decomposition (SHOP2)
      • Example later

Input: tasks are partially ordered

Output: totally ordered plan

  • 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
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.

slide17
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: ()

pseudo code for tfd
Pseudo-code for TFD

Applying an operator

Changing the state

Randomly pick an applicable method

Decompose method into tasks

slide19
DWR
  • Move the containers, preserving ordering
  • Use loc1 as example.
example tfd
Example TFD

Goal: move-each-twice

Move-stack(p1a, p1b)

Move-stack(p1b, p1c)

Stack 2 and 3 empty.

tfd pfd
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 & 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
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
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 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
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
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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