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PNP Generator

Luca Iocchi and Laurent Jeanpierre 2015-2016

Build and install

- Note: not needed if you are using the docker image. -

Required libraries: boost, libxml++2.6-dev, pcrecpp

    mkdir build
    cd build
    cmake ..
    make
    sudo make install
    sudo ldconfig

Run

  1. Generation of a PNP from a linear plan

     cd test
 ../bin/pnpgen_linear DIAG_printer.plan


 cd test
 ../bin/pnpgen_linear DIAG_printer.pddlout

Note: plan format is detected from the file extension.

.plan = sequence of actions separated by ; in a single line

Example:

    goto_printer; say_hello; goto_home

.pddlout = typical output of PDDL planners

Example:

    (goto printer)
    (say hello)
    (goto home)

  1. Generation of a PNP from a linear plan and execution rules

     cd test
 ../bin/pnpgen_linear DIAG_printer.plan DIAG_printer.er

  2. Generation of a PNP from a policy

     cd test
 ../bin/pnpgen_policy

  3. Generation of a PNP from a policy and execution rules

     cd test
 ../bin/pnpgen_policy DIAG_printer.er

  4. Generation of a PNP from a PRU

     cd test
 ../bin/pnpgen_pru icaps16_ex1.xml

General command:

    pnpgen_pru <PRU_file> [horizon] [discount_factor] [stop_criterion] [execution_rules_file]

optional parameters:

  • horizon is the maximum number of steps to compute the policy over (default = 50)
  • discout-factor (usually denoted \gamma) is the loss of value with time (default = 0.99 - if reaching a goal in one step is rewarded 100, the same goal in two steps will be rewarded 99 only...)
  • stop_criterion (usually denoted \epsilon) is the minimal change of expected value alowed between two decision steps (default = 0 - stop if expected value does not change)
  • execution_rules_file (default = none) is a file containing execution rules to apply to the generated plan.

Test: Load output pnml files with Jarp. Unfortunately, plans generated may not be readable, unless you move some places, transitions, labels...

  1. Generation of a PNP from a conditional plan (given in the source code)

     cd test
 ../bin/pnpgen_condplan [execution_rules_file]

  2. Generation of a PNP from a conditional plan description file

     cd test
 ../bin/pnpgen_translator inline [conditional_plan_file]

A conditional plan has the form:

    plan = t1 ; ... ; tn
    t = action | < condition_1 : ... : conditon_n >
    condition = condition ? plan

Some examples of valid plans:

    a1; a2; < q ? b1 : (not q) ? b2>
    a1; a2; < q ? b1; b3 : (not q) ? b2; b4 >; a3; a4
    a1; a2; < c1 ? b1; b2; b3 : (not c1) ? c1; c2; < h1 ? a : h2 ? b : h3 ? c >; c4 > ; a3 ; a4
    a1; < c1 ? a2; a3; a4; < q ? a : (not q) ? b > ; c ; a5 : c2 ? a6; a7; a8 : c3 ? <k ? a9 : (not k) ? a10 >; a11; <y ? a12 : (not y) ? a13>; a14>; a15; a16