FAST DOWNWARD 工具的配置与基础应用

1. 安装FAST DOWNWARD

使用官网教程安装FAST DOWNWARD。按照官方的BUILD.md安装即可。

官方使用文档解读

使用fast-downward.py驱动程序脚本，需要指定PDDL输入文件和搜索算法。提供的搜索算法有:A* search (eager)，Eager best-first search，Greedy search (eager)，Eager weighted A* search，Lazy enforced hill-climbing，Iterated search，Lazy best-first search，Greedy search (lazy)，(Weighted) A* search (lazy)。输入命令时可以通过加入诸多选项，从而单独运行规划器、或运行计划验证器等。

可以多个版本共存，但是需要通过build参数明确使用的版本。无异常情况下，代码返回0；如果发生错误返回其他代码，可以参考exit_code。

LP支持：CPLEX与SoPLEX，注意后者只能用来解决整数规划问题。

关于VAL的配置，在编译完成后会生成一个validate的可执行文件。注意将该文件的路径添加到系统环境变量PATH中。例如我将生成的validate转移至/downward文件下，于是在系统文件中添加途径如下：

sudo vim ~/.bashrc
export PATH="$PATH:/home/zz/downward/"
source ~/.bashrc:

为了增加更多的功能，按照官方链接继续安装。注意，这里我首先在downward文件夹下使用catkin_make编译后，然后参照官方命令完成安装，否则会发生找不到一些可执行文件的报错。

catkin_make
cmake -S src -B builds/mycustombuild
cmake --build builds/mycustombuild

*安装CPLEX
这里需要自己去IBM官网申请许可证，可以使用教育版CPLEX，官网地址。切换到安装包所在目录下，执行如下：

chmod +x cos_installer_preview-22.1.1.0.R0-M08SWML-linux-x86-64.bin 
./cos_installer_preview-22.1.1.0.R0-M08SWML-linux-x86-64.bin

选择语言，选择自己的安装路径

sudo vim ~/.bashrc
export cplex_DIR=/home/zz/CPLEX/cplex
export PATH="$PATH:/home/zz/CPLEX/cplex/bin/x86-64_linux/:/home/zz/CPLEX/cpoptimizer/bin/x86-64_linux/"
 
source ~/.bashrc

验证是否能被规划器正常调用：

./fast-downward.py misc/tests/benchmarks/miconic/s1-0.pddl --search "astar(operatorcounting([lmcut_constraints()]))"

出现如下输出证明安装成功：

2. 示例使用

进入fastdownward.py所在目录下。

usage: fast-downward.py [-h] [-v] [--show-aliases] [--run-all] [--translate]
                        [--search]
                        [--translate-time-limit TRANSLATE_TIME_LIMIT]
                        [--translate-memory-limit TRANSLATE_MEMORY_LIMIT]
                        [--search-time-limit SEARCH_TIME_LIMIT]
                        [--search-memory-limit SEARCH_MEMORY_LIMIT]
                        [--validate-time-limit VALIDATE_TIME_LIMIT]
                        [--validate-memory-limit VALIDATE_ME(define (domain miconic)
  (:requirements :strips)
  

(:predicates 
(origin ?person ?floor )
;; entry of ?person is ?floor
;; inertia

(floor ?floor)
(passenger ?passenger)

(destin ?person ?floor )
;; exit of ?person is ?floor
;; inertia

(above ?floor1 ?floor2 )
;; ?floor2 is located above of ?floor1

(boarded ?person )
;; true if ?person has boarded the lift

(served ?person )
;; true if ?person has alighted as her destination

(lift-at ?floor )
;; current position of the lift is at ?floor
)


;;stop and allow boarding

(:action board
  :parameters (?f ?p)
  :precondition (and (floor ?f) (passenger ?p)(lift-at ?f) (origin ?p ?f))
  :effect (boarded ?p))

(:action depart
  :parameters (?f  ?p)
  :precondition (and (floor ?f) (passenger ?p) (lift-at ?f) (destin ?p ?f)
		     (boarded ?p))
  :effect (and (not (boarded ?p))
	       (served ?p)))
;;drive up

(:action up
  :parameters (?f1 ?f2)
  :precondition (and (floor ?f1) (floor ?f2) (lift-at ?f1) (above ?f1 ?f2))
  :effect (and (lift-at ?f2) (not (lift-at ?f1))))


;;drive down

(:action down
  :parameters (?f1 ?f2)
  :precondition (and (floor ?f1) (floor ?f2) (lift-at ?f1) (above ?f2 ?f1))
  :effect (and (lift-at ?f2) (not (lift-at ?f1))))
)
MORY_LIMIT]
                        [--overall-time-limit OVERALL_TIME_LIMIT]
                        [--overall-memory-limit OVERALL_MEMORY_LIMIT]
                        [--alias ALIAS] [--build BUILD] [--debug] [--validate]
                        [--log-level {debug,info,warning}] [--plan-file FILE]
                        [--sas-file FILE] [--keep-sas-file] [--portfolio FILE]
                        [--portfolio-bound VALUE] [--portfolio-single-plan]
                        [--cleanup]
                        INPUT_FILE1 [INPUT_FILE2] [COMPONENT_OPTION ...]
EXAMPLES:
 ("Translate and find a plan with A* + LM-Cut:",
     ["misc/tests/benchmarks/gripper/prob01.pddl",
      "--search", '"astar(lmcut())"']),
    ("Translate and run no search:",
     ["--translate",
      "misc/tests/benchmarks/gripper/prob01.pddl"]),
    ("Run predefined configuration (LAMA-2011) on translated task:",
     ["--alias", "seq-sat-lama-2011", "output.sas"]),
    ("Run a portfolio on a translated task:",
     ["--portfolio", str(EXAMPLE_PORTFOLIO),
      "--search-time-limit", "30m", "output.sas"]),
    ("Run the search component in debug mode (with assertions enabled) "
     "and validate the resulting plan:",
     ["--debug", "output.sas", "--search", '"astar(ipdb())"']),
    ("Pass options to translator and search components:",
     ["misc/tests/benchmarks/gripper/prob01.pddl",
      "--translate-options", "--full-encoding",
      "--search-options", "--search", '"astar(lmcut())"']),
    ("Find a plan and validate it:",
     ["--validate",
      "misc/tests/benchmarks/gripper/prob01.pddl",
      "--search", '"astar(cegar())"']),
    ("Predefine an evaluator (new style):",
     ["misc/tests/benchmarks/gripper/prob01.pddl",
      "--search", '"let(hff, ff(), eager_greedy([hff], preferred=[hff]))"']),
    ("Predefine an evaluator (old style):",
     ["misc/tests/benchmarks/gripper/prob01.pddl",
      "--evaluator", '"hff=ff()"', "--search", '"eager_greedy([hff], preferred=[hff])"']),

上述是fast downward中一些接口的调用方法，挑选一些示例进行测试：

（1） 使用A* + LM-Cut算法生成计划

./fast-downward.py misc/tests/benchmarks/gripper/prob01.pddl --search "astar(lmcut())"

终端显示“Solution found.”
并且在同目录下生成sas_plan文件。

（2）只是将pddl文件翻译成sas文件

 ./fast-downward.py --translate misc/tests/benchmarks/gripper/prob01.pddl

终端返回exec_code 0 ，并在同目录下生成output.sas文件。

（3）使用(LAMA-2011) 算法在翻译得到的sas系统上完成规划

./fast-downward.py --alias seq-sat-lama-2011 output.sas

（4）debug模式下运行

使用命令前需安装debug

./build.py debug
./fast-downward.py --debug output.sas --search "astar(ipdb())"

（5）根据给出的problem.pddl文档生成plan并验证

./fast-downward.py --validate misc/tests/benchmarks/gripper/prob01.pddl --search "astar(cegar())"

3. 官方pddl文件示例解析

domain.pddl文件

(define (domain miconic)
  (:requirements :strips)

定义domain域的名称为miconic，并且声明使用STRIPS表示法。

(:predicates 
(origin ?person ?floor )
;; entry of ?person is ?floor
;; inertia

(floor ?floor)
(passenger ?passenger)

(destin ?person ?floor )
;; exit of ?person is ?floor
;; inertia

(above ?floor1 ?floor2 )
;; ?floor2 is located above of ?floor1

(boarded ?person )
;; true if ?person has boarded the lift

(served ?person )
;; true if ?person has alighted as her destination

(lift-at ?floor )
;; current position of the lift is at ?floor
)
;;stop and allow boarding

origin关键字描述人与所处楼层的关系，floor和passenger关键字用来确认人和电梯的身份，destin关键字用来表述人的目标楼层，above关键字用来表述楼层之间的关系，boarded表述人是否登上电梯， serverd关键字用来表述人是否被服务，lift-at 描述电梯当前停靠的楼层。

(:action board
  :parameters (?f ?p)
  :precondition (and (floor ?f) (passenger ?p)(lift-at ?f) (origin ?p ?f))
  :effect (boarded ?p))

动作前置条件，确认楼层，确认乘客，确认电梯在f层，确认乘客在f层。
动作的影响，乘客处于boarded状态。

(:action depart
  :parameters (?f  ?p)
  :precondition (and (floor ?f) (passenger ?p) (lift-at ?f) (destin ?p ?f)
		     (boarded ?p))
  :effect (and (not (boarded ?p))
	       (served ?p)))
;;drive up

动作前置条件，确认楼层，确认乘客，确认电梯停留在当前楼层，确认当前楼层是乘客目标楼层，确认乘客处于登入电梯boarded状态。
动作影响，乘客离开boarded状态，乘客被服务。

(:action up
  :parameters (?f1 ?f2)
  :precondition (and (floor ?f1) (floor ?f2) (lift-at ?f1) (above ?f1 ?f2))
  :effect (and (lift-at ?f2) (not (lift-at ?f1))))

动作前置条件，确认楼层1，确认楼层2 ，已知电梯停留在楼层1，已知楼层2在楼层1上。
动作影响，电梯在楼层2，电梯离开楼层1。

;;drive down

(:action down
  :parameters (?f1 ?f2)
  :precondition (and (floor ?f1) (floor ?f2) (lift-at ?f1) (above ?f2 ?f1))
  :effect (and (lift-at ?f2) (not (lift-at ?f1))))
)

该动作理解方式同上。

problem.pddl文件

(define (problem mixed-f2-p1-u0-v0-g0-a0-n0-A0-B0-N0-F0-r0)
   (:domain miconic)
   (:objects p0 
             f0 f1 )

定义问题名称，引入问题使用的domain，声明问题需要的参数p0, f0, f1。

(:init
(passenger p0)
(floor f0)
(floor f1)

(above f0 f1)
(origin p0 f1)
(destin p0 f0)

(lift-at f0)
)

初始化乘客参数p0，楼层参数f0，f1, 声明f1在f0上，声明乘客p0初始状态下在楼层f1，目标楼层为f0.当前电梯停留在楼层f0。

(:goal (and 
(served p0)
))
)

目标为乘客被成功served，即到达其目标楼层f0。我们来看规划器生成的plan:

(up f0 f1)
(board f1 p0)
(down f1 f0)
(depart f0 p0)
; cost = 4 (unit cost)

首先，电梯从f0升到f1，乘客登上电梯，电梯从f1下降到f0，乘客离开电梯，完成目标。