Running LAMA
Questions, Problems and Bugs
If you have problems with any of the planners, please ask your lab assistant. Through the WWW links provided you can find out more about the planning systems, but please, do not contact their authors!
Known Problems
LAMA, like many planners, requires all the arguments to an operator to be
different,
LAMA does not handle planning with durations.
How LAMA Works
LAMA consists of three separate programs:
- the translator (written in Python),
- the knowledge compilation module (written in C++), and
- the search engine (also written in C++).
The search engine uses multi-heuristics to speed up the search process. It makes use of the FF heuristic and also of landmarks. The landmark heuristic measures the distance to a goal by the number of landmarks that still need to be achieved.
Input
LAMA accepts PDDL input, including some parts of ADL: quantified and conditional effects, quantified preconditions and goals and :typing, but not type hierarchies.
Running LAMA
LAMA is started with the command
- /courses/TDDC17/bin/downward/src/lama <domain file> <problem file>
Note that after LAMA finds a solution, it keeps searching for a better one. It only stops after having completely exhausted the search space.