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

LOAD

LEARN

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PATTERN

VAL

VEGA

prob

lem.p

dd

l dom

ain.p

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*.pd

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OBJECTS

GROUND

ADL2STRIPS

sas+ob

jects

PLANNER1

DURATIVEFF

SYMM

POLLO

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ential.soln

parallel.soln

SHOWSOLN

GOALORDERING sym

metries

pb

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state-sequ

ence seq

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ce.run

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PLANNERn

ArchitectureArchitecture

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PATTERN

VAL

VEGA

prob

lem.p

dd

l dom

ain.p

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*.pd

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OBJECTS

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ADL2STRIPS

sas+ob

jects

PLANNER1

DURATIVEFF

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POLLO

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GOALORDERING sym

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pb

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ence seq

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PLANNERn

ArchitectureArchitecture

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PATTERN

VAL

VEGA

prob

lem.p

dd

l dom

ain.p

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*.pd

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OBJECTS

GROUND

ADL2STRIPS

sas+ob

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PLANNER1

DURATIVEFF

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ential.soln

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GOALORDERING sym

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ArchitectureArchitecture

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PATTERN

VAL

VEGA

prob

lem.p

dd

l dom

ain.p

dd

l

groun

ded

*.pd

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OBJECTS

GROUND

ADL2STRIPS

sas+ob

jects

PLANNER1

DURATIVEFF

SYMM

POLLO

sequ

ential.soln

parallel.soln

SHOWSOLN

GOALORDERING sym

metries

pb

-n.p

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ence seq

uen

ce.run

pb

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PLANNERn

ArchitectureArchitecture

LOAD

LEARN

TRANSLATE

PATTERN

VAL

VEGA

prob

lem.p

dd

l dom

ain.p

dd

l

groun

ded

*.pd

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OBJECTS

GROUND

ADL2STRIPS

sas+ob

jects

PLANNER1

DURATIVEFF

SYMM

POLLO

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ential.soln

parallel.soln

SHOWSOLN

GOALORDERING sym

metries

pb

-n.p

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state-sequ

ence seq

uen

ce.run

pb

-1.pd

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PLANNERn

ArchitectureArchitecture

LOAD

LEARN

TRANSLATE

PATTERN

VAL

VEGA

prob

lem.p

dd

l dom

ain.p

dd

l

groun

ded

*.pd

dl

OBJECTS

GROUND

ADL2STRIPS

sas+ob

jects

PLANNER1

DURATIVEFF

SYMM

POLLO

sequ

ential.soln

parallel.soln

SHOWSOLN

GOALORDERING sym

metries

pb

-n.p

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state-sequ

ence seq

uen

ce.run

pb

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PLANNERn

ArchitectureArchitecture

LOAD

LEARN

TRANSLATE

PATTERN

VAL

VEGA

prob

lem.p

dd

l dom

ain.p

dd

l

groun

ded

*.pd

dl

OBJECTS

GROUND

ADL2STRIPS

sas+ob

jects

PLANNER1

DURATIVEFF

SYMM

POLLO

sequ

ential.soln

parallel.soln

SHOWSOLN

GOALORDERING sym

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pb

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ence seq

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PLANNERn

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