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| Running the planner is a three-step process as explained in Section 3 (pp. 202-203) of the [[http://www.jair.org/papers/paper1705.html|JAIR paper on Fast Downward]]. The following instructions show how to run these three steps, in sequence, assuming that the preprocessor and search component have been compiled and that you are currently located in the root directory of the repository. The driver script also assumes that the planner is built in the directory {{{builds/release32}}} were the script {{{./build.py}}} will create it by default. See the [[ObtainingAndRunningFastDownwardcmake#Compiling_the_planner|compilation instructions]] for how to create other builds and [[#Different_builds]] for how to run them. If you want to run any of the planners based on Fast Downward that participated in IPC 2011, please also check IpcPlanners. = Driver script = We recommend using the {{{fast-downward.py}}} driver script for running Fast Downward. It supports running all three planner steps or a subset of them and automatically chooses the right steps depending on the given input. To see the list of options run |
To run Fast Downward, use the {{{fast-downward.py}}} driver script. At minimum, you need to specify the PDDL input files and search options consisting of a [[Doc/SearchAlgorithm|search algorithm]] with one or more [[Doc/Evaluator|evaluator specification]]s. The driver script has many options to do things like running portfolios, running only the translation component of the planner, using a non-standard build, running a plan validator and various other things. To see the complete list of options, run |
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| If you want to run any of the planners based on Fast Downward that participated in IPC 2011, please also check IpcPlanners. | |
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| === Different builds === | == Caveats == |
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| The driver script assumes that there is a directory {{{builds}}} containing one subdirectory for each build configuration. The script {{{./build.py}}} can create them for some typical builds and you can create your own with a [[ObtainingAndRunningFastDownward#Manual_Builds|manual build]]. To choose a different build, pass the parameter {{{--build=<name>}}} to the driver script. The default name is {{{release32}}} and the parameter {{{--debug}}} is an alias for {{{--build=debug32}}}. '''Note on IDE projects (Visual Studio, XCode)''': You can use the CMake build system to generate a project for you favourite IDE. These projects are what CMake calls "multi-config generators", i.e., they are created without fixing the build configuration. During build-time, the IDE decides whether to do a debug or release build and creates subdirectories in the output folder. Use the full path to the binaries as the value of {{{--build}}} (e.g., {{{--build=path/to/visual/studio/project/bin/Debug/}}}), or run the components individually without the driver script. |
The '''search options''' are built with flexibility in mind, not ease of use. It is very easy to use option settings that look plausible, yet introduce significant inefficiencies. For example, an invocation like {{{ ./fast-downward.py domain.pddl problem.pddl --search "lazy_greedy([ff()], preferred=[ff()])"}}} looks plausible, yet is hugely inefficient since it will compute the FF heuristic twice per state. See the examples on the PlannerUsage page to see how to call the planner properly. If in doubt, ask. |
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| === Exit codes === | == Different builds == |
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| The driver exits with 0 if no errors are encountered. Otherwise, it returns the exit code of the first component that failed. The translator and preprocessor exit with the following codes: | Different builds of Fast Downward (e.g. release vs. debug) are placed in different directories by the build script. Hence, several builds can coexist and {{{fast-downward.py}}} must be told which build to use. By default, the {{{release}}} build is used, which is also the default build produced by {{{build.py}}}. To use a different build, pass {{{--build=<name>}}} to the driver script. The parameter {{{--debug}}} is an alias for {{{--build=debug --validate}}}. |
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| || '''Code''' || '''Meaning''' || || 0 || OK: translation/preprocessing successful || || 1 || Critical error: something went wrong (e.g. translator/preprocessor bug, but also malformed PDDL input) || || 2 || Usage error: wrong command line options || |
'''Note on IDE projects (Visual Studio, XCode)''': You can use the CMake build system to generate a project for you favourite IDE. These projects are what CMake calls "multi-config generators", i.e., they are created without fixing the build configuration. At build time, the IDE decides whether to do a debug or release build and creates subdirectories in the output folder. Use the full path to the binaries as the value of {{{--build}}} (e.g., {{{--build=path/to/visual/studio/project/bin/Debug/}}}). |
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| The search component and the portfolios can produce the exit codes listed below. In addition to the numbers we list the names of the exit codes as they are defined in [[http://hg.fast-downward.org/file/tip/src/search/utilities.h|src/search/utilities.h]] and [[http://hg.fast-downward.org/file/tip/driver/portfolio_runner.py|driver/portfolio_runner.py]]. | == Exit codes == |
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| || '''Code''' || '''Name''' || '''Meaning''' || || 0 || EXIT_PLAN_FOUND || Translation successful/Preprocessing successful/Solution found || || 1 || EXIT_CRITICAL_ERROR || Something went wrong that should not have gone wrong (e.g. planner bug). || || 2 || EXIT_INPUT_ERROR || Wrong command line options or SAS+ file. || || 3 || EXIT_UNSUPPORTED || Requested unsupported feature. || || 4 || EXIT_UNSOLVABLE || Task is provably unsolvable with current bound. Currently unused (see [[http://issues.fast-downward.org/issue377|issue377]]). || || 5 || EXIT_UNSOLVED_INCOMPLETE || Search ended without finding a solution. || || 6 || EXIT_OUT_OF_MEMORY || Memory exhausted. || || 7 || EXIT_TIMEOUT || Timeout occured. Only returned by portfolios. || || 8 || EXIT_TIMEOUT_AND_MEMORY || In portfolio configurations both timeouts and out-of-memory conditions occurred. || |
The driver exits with 0 if no errors are encountered. Otherwise, it returns the exit code of the first component that failed. The exit codes are documented at ExitCodes. |
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| Below are the instructions for running individual steps without the driver script. | == LP support == |
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| == Translator == | Features that use an LP solver have a command-line option `lpsolver` to switch between different solver types. See [[http://issues.fast-downward.org/issue752|issue752]] and [[http://issues.fast-downward.org/issue1076|issue1076]] for a discussion of the relative performance of CPLEX and !SoPlex. |
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| {{{ translate/translate.py [DOMAIN] PROBLEM }}} |
Note that !SoPlex is not a MIP solver, so using it for configurations that require integer variables will result in an error. Please use CPLEX for such cases. |
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| * `DOMAIN` (filename): PDDL domain file * `PROBLEM` (filename): PDDL problem file |
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| If the domain file is not given, the planner will try to infer a likely name from the problem file name, using the conventions used at the various IPCs. (If in doubt if this will work for you, just try it out.) | == Examples == |
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| Note: Creates a file called [[TranslatorOutputFormat|output.sas]]. == Preprocessor == {{{ preprocess/preprocess < OUTPUT.SAS }}} * `OUTPUT.SAS` (filename): translator output Note: Creates a file called [[PreprocessorOutputFormat|output]]. <<Anchor(search)>> == Search component == {{{ search/downward OPTIONS < OUTPUT }}} * `OPTIONS`: Examples below. See OptionSyntax and [[Doc/Overview]] for details. * `OUTPUT` (filename): preprocessor output === Examples === ==== A* search ==== |
=== A* search === |
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| ./fast-downward.py output --search "astar(lmcut())" | ./fast-downward.py domain.pddl task.pddl --search "astar(lmcut())" |
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| ./fast-downward.py output --search "astar(ipdb())" | ./fast-downward.py domain.pddl task.pddl --search "astar(ipdb())" |
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| ./fast-downward.py output --search "astar(blind())" | ./fast-downward.py domain.pddl task.pddl --search "astar(blind())" |
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| ==== Lazy greedy best-first search with preferred operators and the queue alternation method ==== | === Lazy greedy best-first search with preferred operators and the queue alternation method === |
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| ./fast-downward.py output \ --heuristic "hff=ff()" --heuristic "hcea=cea()" \ |
./fast-downward.py domain.pddl task.pddl \ --evaluator "hff=ff()" --evaluator "hcea=cea()" \ |
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| ./fast-downward.py output \ --heuristic "hff=ff()" \ --search "lazy_greedy(hff, preferred=hff)" \ |
./fast-downward.py domain.pddl task.pddl \ --evaluator "hff=ff()" \ --search "lazy_greedy([hff], preferred=[hff])" \ |
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| ./fast-downward.py output \ --heuristic "hcea=cea()" \ --search "lazy_greedy(hcea, preferred=hcea)" \ |
./fast-downward.py domain.pddl task.pddl \ --evaluator "hcea=cea()" \ --search "lazy_greedy([hcea], preferred=[hcea])" \ |
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| ==== LAMA 2011 ==== | === LAMA 2011 === |
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| ./fast-downward.py --alias seq-sat-lama-2011 output | ./fast-downward.py --alias seq-sat-lama-2011 domain.pddl task.pddl |
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| runs the "LAMA 2011 configuration" of the planner. (Note that this is not really the same as "LAMA 2011" as it participated at IPC 2011 because there have been bug fixes and other changes to the planner since 2011. See IpcPlanners for more information.) Please also check the comments below on 32-bit vs. 64-bit mode. To find out which actual search options the LAMA 2011 configuration corresponds to, check the source code of the {{{src/driver/aliases.py}}} module. | runs the "LAMA 2011 configuration" of the planner. (Note that this is not really the same as "LAMA 2011" as it participated at IPC 2011 because there have been bug fixes and other changes to the planner since 2011. See IpcPlanners for more information.) To find out which actual search options the LAMA 2011 configuration corresponds to, check the source code of the {{{src/driver/aliases.py}}} module. |
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| == 32-bit mode or 64-bit mode? == | == 64-bit mode == |
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| Our current codebase (as of November 2011) differs from the IPC versions of our planners in one way: by default, planner executables are compiled in 32-bit mode, while 64-bit was used at IPC 2011. The main differences between 32- vs. 64-bit mode are as follows: * 64-bit mode is faster than 32-bit mode (in our limited experiments typically by a factor of ~1.1) * 64-bit mode needs more memory than 32-bit mode (in our limited experiments typically by a factor of ~1.5) * 64-bit mode can use essentially unbounded amounts of memory, while 32-bit mode can only use 3 GB of user space memory (on typical Linux systems -- numbers may differ on other operating systems and depending on kernel options) In our experiments, the memory advantage of 32-bit mode tends to outweigh the speed disadvantage, which is why we enable 32-bit mode by default. See http://issues.fast-downward.org/issue213 for details. However, for memory limits substantially beyond 4 GB, you should use 64-bit mode due to the address space limitations of 32-bit mode. To enable 64-bit, use the build configurations {{{release64}}} and {{{debug64}}}. For manual builds, call CMake with the option {{{-DALLOW_64_BIT=TRUE}}} and set up your build environment to compile for 64 bit (this depends on your system). For example, the following would work on Linux with gcc: {{{ mkdir -p builds/manual_64_bit_build cd builds/manual_64_bit_build cmake -DALLOW_64_BIT=TRUE -DCMAKE_CXX_FLAGS="-m64" ../../src make }}} |
Older planner versions built the planner in 32-bit mode by default because of lower memory consumption. As part of the meta issue [[http://issues.fast-downward.org/issue213|issue213]] we decreased the memory consumption of 64-bit builds to the point where there should be no difference between 32- and 64-bit builds for most configurations. Therefore, we use the native bitwidth of the operating system since January 2019. |
Back to HomePage.
Usage
To run Fast Downward, use the fast-downward.py driver script. At minimum, you need to specify the PDDL input files and search options consisting of a search algorithm with one or more evaluator specifications. The driver script has many options to do things like running portfolios, running only the translation component of the planner, using a non-standard build, running a plan validator and various other things. To see the complete list of options, run
./fast-downward.py --help
If you want to run any of the planners based on Fast Downward that participated in IPC 2011, please also check IpcPlanners.
Caveats
The search options are built with flexibility in mind, not ease of use. It is very easy to use option settings that look plausible, yet introduce significant inefficiencies. For example, an invocation like ./fast-downward.py domain.pddl problem.pddl --search "lazy_greedy([ff()], preferred=[ff()])" looks plausible, yet is hugely inefficient since it will compute the FF heuristic twice per state. See the examples on the PlannerUsage page to see how to call the planner properly. If in doubt, ask.
Different builds
Different builds of Fast Downward (e.g. release vs. debug) are placed in different directories by the build script. Hence, several builds can coexist and fast-downward.py must be told which build to use. By default, the release build is used, which is also the default build produced by build.py. To use a different build, pass --build=<name> to the driver script. The parameter --debug is an alias for --build=debug --validate.
Note on IDE projects (Visual Studio, XCode): You can use the CMake build system to generate a project for you favourite IDE. These projects are what CMake calls "multi-config generators", i.e., they are created without fixing the build configuration. At build time, the IDE decides whether to do a debug or release build and creates subdirectories in the output folder. Use the full path to the binaries as the value of --build (e.g., --build=path/to/visual/studio/project/bin/Debug/).
Exit codes
The driver exits with 0 if no errors are encountered. Otherwise, it returns the exit code of the first component that failed. The exit codes are documented at ExitCodes.
LP support
Features that use an LP solver have a command-line option lpsolver to switch between different solver types. See issue752 and issue1076 for a discussion of the relative performance of CPLEX and SoPlex.
Note that SoPlex is not a MIP solver, so using it for configurations that require integer variables will result in an error. Please use CPLEX for such cases.
Examples
A* search
Lazy greedy best-first search with preferred operators and the queue alternation method
1 ## using FF heuristic and context-enhanced additive heuristic (previously: "fFyY")
2 ./fast-downward.py domain.pddl task.pddl \
3 --evaluator "hff=ff()" --evaluator "hcea=cea()" \
4 --search "lazy_greedy([hff, hcea], preferred=[hff, hcea])" \
5
6
7 ## using FF heuristic (previously: "fF")
8 ./fast-downward.py domain.pddl task.pddl \
9 --evaluator "hff=ff()" \
10 --search "lazy_greedy([hff], preferred=[hff])" \
11
12
13 ## using context-enhanced additive heuristic (previously: "yY")
14 ./fast-downward.py domain.pddl task.pddl \
15 --evaluator "hcea=cea()" \
16 --search "lazy_greedy([hcea], preferred=[hcea])" \
17
LAMA 2011
./fast-downward.py --alias seq-sat-lama-2011 domain.pddl task.pddl
runs the "LAMA 2011 configuration" of the planner. (Note that this is not really the same as "LAMA 2011" as it participated at IPC 2011 because there have been bug fixes and other changes to the planner since 2011. See IpcPlanners for more information.) To find out which actual search options the LAMA 2011 configuration corresponds to, check the source code of the src/driver/aliases.py module.
64-bit mode
Older planner versions built the planner in 32-bit mode by default because of lower memory consumption. As part of the meta issue issue213 we decreased the memory consumption of 64-bit builds to the point where there should be no difference between 32- and 64-bit builds for most configurations. Therefore, we use the native bitwidth of the operating system since January 2019.
Other questions?
Please get in touch! See the HomePage for various contact options.