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The ModPlan Workbench

The ModPlan Workbench. Stefan Edelkamp Tilman Mehler PG 463. Overview. Design Goals System Requirements Infrastructure / Architecture Essentials Screenshots Summary. Design Goals. Interacive KE-Tool for AI Planning Accessible Domain and Plan Analysis PDDL Learning Capabilities

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The ModPlan Workbench

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  1. The ModPlan Workbench Stefan Edelkamp Tilman Mehler PG 463

  2. Overview • Design Goals • System Requirements • Infrastructure / Architecture • Essentials • Screenshots • Summary

  3. Design Goals • Interacive KE-Tool for AI Planning • Accessible Domain and Plan Analysis • PDDL Learning Capabilities • Extending State-of-the-Art Planning • Objective: Domain Experts assist solving hard Combinatorial Problems

  4. Infrastructure • Plattform: Windows • Distribution: All-Included CD • Environment: CYGWIN • Components: Java, C/C++, Python • GUI: wxWidgets • XML Editing: Pollo • Geometric Visualization: VEGA

  5. Architecture sequential.soln parallel.soln problem.pddl domain.pddl LOAD PATTERN ADL2STRIPS SHOWSOLN grounded *.pddl TRANSLATE POLLO VEGA state-sequence sequence.run GROUND DURATIVE FF sas+ OBJECTS objects VAL PLANNER 1 pb-1.pddl SYMM LEARN GOAL ORDERING symmetries PLANNER n pb-n.pddl

  6. Architecture sequential.soln parallel.soln problem.pddl domain.pddl LOAD PATTERN ADL2STRIPS SHOWSOLN grounded *.pddl TRANSLATE POLLO VEGA state-sequence sequence.run GROUND DURATIVE FF sas+ OBJECTS objects VAL PLANNER 1 pb-1.pddl SYMM LEARN GOAL ORDERING symmetries PLANNER n pb-n.pddl

  7. Architecture sequential.soln parallel.soln problem.pddl domain.pddl LOAD PATTERN ADL2STRIPS SHOWSOLN grounded *.pddl TRANSLATE POLLO VEGA state-sequence sequence.run GROUND DURATIVE FF sas+ OBJECTS objects VAL PLANNER 1 pb-1.pddl SYMM LEARN GOAL ORDERING symmetries PLANNER n pb-n.pddl

  8. Architecture sequential.soln parallel.soln problem.pddl domain.pddl LOAD PATTERN ADL2STRIPS SHOWSOLN grounded *.pddl TRANSLATE POLLO VEGA state-sequence sequence.run GROUND DURATIVE FF sas+ OBJECTS objects VAL PLANNER 1 pb-1.pddl SYMM LEARN GOAL ORDERING symmetries PLANNER n pb-n.pddl

  9. Architecture sequential.soln parallel.soln problem.pddl domain.pddl LOAD PATTERN ADL2STRIPS SHOWSOLN grounded *.pddl TRANSLATE POLLO VEGA state-sequence sequence.run GROUND DURATIVE FF sas+ OBJECTS objects VAL PLANNER 1 pb-1.pddl SYMM LEARN GOAL ORDERING symmetries PLANNER n pb-n.pddl

  10. Architecture sequential.soln parallel.soln problem.pddl domain.pddl LOAD PATTERN ADL2STRIPS SHOWSOLN grounded *.pddl TRANSLATE POLLO VEGA state-sequence sequence.run GROUND DURATIVE FF sas+ OBJECTS objects VAL PLANNER 1 pb-1.pddl SYMM LEARN GOAL ORDERING symmetries PLANNER n pb-n.pddl

  11. Architecture sequential.soln parallel.soln problem.pddl domain.pddl LOAD PATTERN ADL2STRIPS SHOWSOLN grounded *.pddl TRANSLATE POLLO VEGA state-sequence sequence.run GROUND DURATIVE FF sas+ OBJECTS objects VAL PLANNER 1 pb-1.pddl SYMM LEARN GOAL ORDERING symmetries PLANNER n pb-n.pddl

  12. Essentials • Multiple Grounding Modules (incl. SAS+ Encoding) • Object Symmetry Detection for Plans (new) • Goal Ordering and Goal Sequentializer (new) • State Sequence Generation (VAL + Inlines) • Plan Visualization/Animation (ShowSol + VEGA) • PDDL Inference (OpMaker + Durations and ADL-Fragments, approximates Init and Goal) • Optimal Planning with PatternPlan (MIPS + Pattern Selection Module) • Suboptimal Planning with DurativeFF (MetricFF + PERT + TimeWindows)

  13. Summary • Fully Integrated Environment for Windows, available on CD • User Interaction: GUIs, Shells, Animation, XML and File Editing • Improves Accessibility and Complexity of Planning Technology • Increasing Fraction of PDDL Expressiveness • Learning: SimpleTime, Limited ADL • Precompilation: PDDL2.2 • DurativeFF: PDDL2.2 • PatternPlan: STRIPS • Symmetry: PDDL2.2 • Goal Ordering: STRIPS • Layered, Recursive Architecture

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