PDDL -无效谓词和正确使用forall

Question

我刚开始计划，现在我尝试创建一个域和问题文件作为练习。短域描述:我有几辆车，它们可以放在A和B位置。任务很简单:把所有汽车从A地移到place B。我创建了以下域文件：

(define (domain test) ; Domain name must match problem's

  ; Define what the planner must support to execute this domain
  ; Only domain requirements are currently supported
  ( :requirements
    :strips                 
    :negative-preconditions 
    :equality               
    :typing               
    :adl
  )
 
 
  (:types
   car
   place
  )
  
  
  (:predicates
    (at ?o - car ?p - place )
    (taken ?o - car )
  )
  
   (:action take
   :parameters (?o1 - car  ?o2 - place )
   :precondition (and 
                    (at ?o1 ?o2)
                    (not (taken ?o1))
                 )   
   :effect (and 
             (not (at  ?o1 ?o2 ))
             (taken ?o1)
           )
   )
   
   
   (:action put
   :parameters (?o1 - car  ?o2 - place )
   :precondition (and 
                    (not (at ?o1 ?o2))
                    (taken ?o1)
                 )   
   :effect (and 
             (at  ?o1 ?o2) 
             (not (taken ?o1) )
           )
   )
   
   (:action takeAll
   :parameters ()
   :precondition (forall (?c - car ?p - place)
                    (and 
                    (at ?c ?p)
                    (not (taken ?c))
                    )
            )
   :effect (forall (?c - car)
                    (taken ?c)
                    )
            )
            
   )

问题文件如下所示：

(define (problem test)
    (:domain test)
    
    (:objects
    c1 - car
    c2 - car
    c3 - car
    
    A - place
    B - place
    )
    
    (:init
        (at c1 A)
        (at c2 A)
        (at c3 A)
        (not (taken c1))
        (not (taken c2))
        (not (taken c3))
    )

    (:goal (and
            (at c1 B)
            (at c2 B)
            (at c3 B)
            )
    )
    
  )

我正在使用在线计划器和求解器可用的这里，我想知道为什么它输出了几个无效的谓词

test
  takeall precondition contains ["forall", ["?c", "-", "car", "?p", "-", "place"], ["and", ["at", "?c", "?p"], ["not", ["taken", "?c"]]]], not a valid predicate
  takeall effect contains ["forall", ["?c", "-", "car"], ["taken", "?c"]], not a valid predicate
  :equality requirement is unnecessary
test
  Initial state contains ["not", ["taken", "c1"]], not a valid predicate
  Initial state contains ["not", ["taken", "c2"]], not a valid predicate
  Initial state contains ["not", ["taken", "c3"]], not a valid predicate

有人能告诉我我到底做错了什么吗？对于takeAll操作，我想用forall做一些实验。应该这样解释:前提条件是，所有的汽车类型的物体都不是处于一种状态，而是在某个地方。其结果应该是所有的汽车都处于被抢占状态。最短的解决方案应该是(根据我的常识) takeAll，put(c1，B)，(put c2，B)，(put c3，B)我很感谢您的帮助！

Answer 1

您正在进行经典的规划，这意味着初始状态只需要指定什么是true (其他一切都假定为假)。把那些负面的声音从你的身体里移开，它可能会产生效果。