我是 PDDL 和 AI 规划领域的新手。我实际上是在为一个人形机器人在场景中与人类交互创建一个计划。场景如下
- 人类进入房间（房间里有机器人和一些物体）
- 机器人检测到人
- 检测后问候人类
- 然后人类要一个杯子
- 机器人假设人类想喝咖啡，并在人类服用药物的时间做出反应（药物和咖啡应该有 1 小时的间隔）
- 人类响应时间
- 如果时间匹配到 1 小时的间隔，机器人会响应它会找到杯子
- 机器人检测到桌上的杯子
- 机器人回应人类杯子在桌子上
- 人类拿起杯子
- 机器人在检测到人拿着杯子后向人打招呼
我的PDDL域文件逻辑如下：
(define (domain sp)
(:requirements :typing :strips :adl)
(:types location agent item - object
robot human speak - agent
room - location
fruit cup table - item
clear polite listenatt - speak)
(:predicates
(at ?o - object ?l - location)
(detected_human ?p - human ?l - room)
(greeted ?r - robot ?p - human)
(detected_cup ?c - cup ?l - room)
(holded ?c - cup ?p - human)
(medichecked ?r - robot ?p - human)
(human_asked ?p - human)
(robot_responded ?r - robot ?cl - clear ?pl - polite)
)
(:action detect_human
:parameters (?p - human ?r - robot ?l - location)
:precondition (at ?r ?l)
:effect (detected_human ?p ?l)
)
(:action detect_cup
:parameters (?p - human ?c - cup ?r - robot ?l - location )
:precondition (and (detected_human ?p ?l)
(human_asked ?p)
(medichecked ?r ?p)
)
:effect (detected_cup ?c ?l)
)
(:action greet
:parameters (?r - robot ?p - human ?l - location ?pl - polite ?cl - clear)
:precondition (and (at ?r ?l) (detected_human ?p ?l))
:effect (and (greeted ?r ?p) (robot_responded ?r ?cl ?pl))
)
(:action hold
:parameters (?c - cup ?p - human ?l - location ?r - robot ?cl - clear ?pl - polite)
:precondition (and (detected_human ?p ?l)
(detected_cup ?c ?l)
(robot_responded ?r ?cl ?pl)
(medichecked ?r ?p)
)
:effect (holded ?c ?p)
)
(:action check_medi
:parameters (?p - human ?l - location ?r - robot)
:precondition (human_asked ?p)
:effect (medichecked ?r ?p)
)
(:action human_ask
:parameters (?p - human ?l - location ?r - robot)
:precondition (and (detected_human ?p ?l) (greeted ?r ?p))
:effect (human_asked ?p)
)
(:action robot_respond
:parameters (?p - human ?l - location ?r - robot ?cl - clear ?pl - polite ?c -cup)
:precondition (and (at ?r ?l) (detected_human ?p ?l))
:effect (and (when (human_asked ?p) (robot_responded ?r ?cl ?pl))
(when (detected_cup ?c ?l) (robot_responded ?r ?cl ?pl)))
)
)
我的 PDDL 问题文件如下：
(define (problem test12)
(:domain sp)
(:objects person0 - Human
pepper0 - Robot
apple - Fruit
cup0 - Cup
table0 - Table
room0 - Room
clear0 - Clear
polite0 - Polite)
(:init
(at pepper0 room0)
)
(:goal (holded cup0 person0)
)
目前它生成以下计划：
plan-found
(detect_human person0 pepper0 room0)
(greet pepper0 person0 room0 polite0 clear0)
(human_ask person0 room0 pepper0)
(check_medi person0 room0 pepper0)
(detect_cup person0 cup0 pepper0 room0)
(hold cup0 person0 room0 pepper0 clear0 polite0)
我希望预期的计划是这样的：
plan-found
(detect_human person0 pepper0 room0)
(greet pepper0 person0 room0 polite0 clear0)
(human_ask person0 room0 pepper0)
(robot_respond person0 polite0 clear0 room0)
(check_medi person0 room0 pepper0)
(robot_respond person0 polite0 clear0 room0)
(detect_cup person0 cup0 pepper0 room0)
(robot_respond person0 polite0 clear0 room0)
(hold cup0 person0 room0 pepper0 clear0 polite0)
我不确定为什么该robot_respond行动从未出现在计划中，即使它已在效果和先决条件中给出。
如果对此问题有任何指导，我将不胜感激。一个多星期以来，我一直在努力使逻辑正确。