In the following, we describe how to install PROST on a Ubuntu system. Over the last few years, we had several Ubuntu versions installed and never encountered any problems with the installation routine, so we assume that it should work on any sufficiently recent version. At the moment, no other operating system is supported, but we are working on the integration of a patch that allows to run PROST on Windows (see issue #31 for more information).
PROST is distributed in the hope that it will be useful to anyone, but without any warranty. Even though the source files in the repository do not contain licensing information at the moment, the planner is published under the GNU General Public License 3 (GPL).
All dependencies are installed by the following command:
$ sudo apt-get install mercurial g++ make bison flex libbdd-dev
The source code is made available in a public mercurial repository. It is cloned to the directory PROST_ROOT by:
$ hg clone http://firstname.lastname@example.org/tkeller/prost PROST_ROOT
The planner consists of two parts, a parsing component which can be found in the PROST_ROOT/src/rddl_parser directory, and the search component in PROST_ROOT/src/search. Both components are compiled by typing
in their respective directory to compile in RELEASE mode, or
$ make debug
for DEBUG mode. If you plan to perform experiments with PROST, please use the RELEASE mode. Both components must be compiled to use PROST.
PROST is an online planner that interleaves planning and execution, so it is necessary to run a simulation environment. We use the server from the rddlsim project. The simplest way to get rddlsim setup with PROST is to run the initialize_testbed.py script that can be found in the testbed folder with a single parameter that gives the path to the rddlsim repo:
cd testbed ./initialize_testbed.py RDDLSIM_ROOT
The script sets up a symbolic link to the rddlsim repo as testbed/rddlsim, applies a simple patch to your git repository of rddlsim (with small changes that are required for PROST) and compiles rddlsim. If you do not want to have this done automatically, you can find installation instructions by Scott Sanner here, apply the patch manually by executing
git apply PATH_TO_PROST/testbed/rddlsim.patch
in the RDDLSIM_ROOT folder and create a link by typing
$ ln -s RDDLSIM_ROOT ./rddlsim
in the PROST_ROOT/testbed folder. This enables the usage of the run-server script that can be found in the same folder. To start the server, type
$ ./run-server BENCHMARK_FOLDER
where BENCHMARK_FOLDER is such that it contains a subdirectory rddl with the RDDL files in it, i.e.,
$ ./run-server benchmarks/ippc2011
will start the server with all instances from IPPC2011. PROST consists of two components: parser (in src/rddl_parser) and search (in src(search). Both are called sequentially with the plan.py script as
$ ./plan.py DOMAIN PROBLEM CONFIG
, where DOMAIN and PROBLEM are the RDDL domain and problem files (e.g., benchmarks/ippc-all/rddl/elevators_mdp.rddl and benchmarks/ippc-all/rddl/elevators_inst_mdp__1.rddl for the first instance of the elevators domain). If you use PROST this way, the parser will create an output file that is passed to the search component. At the end of the run, that output file is deleted. Since the parser is deterministic, it is also possible to apply the parser on a large set of RDDL files with the parse.py script and only run the search component on the resulting PROST files. To do so, run parse.py on a folder as translate2Prefix that contains a subfolder with .rddl domain and instance files, which creates a new folder "prost". All files in the prost folder are input files for the search component that do not have to be recreated as long as the domain and problem files remain unaltered).
CONFIG is the configuration you want to use for the search component. To run the PROST planner in the version that was used at IPPC 2011 (2014), replace CONFIG with "IPPC2011" ("IPPC2014"). For more information on search paramters, go to the PROST_ROOT/src/search folder and run the search component without any arguments. To summarize, the following command runs the PROST version that was used at IPPC 2014 on the first instance of the elevators domain:
$ ./plan.py benchmarks/ippc-all/rddl/elevators_mdp.rddl benchmarks/ippc-all/rddl/elevators_inst_mdp__1.rddl "IPPC2014"
Note that there is also a README file in the repository. In case neither this description nor the README file are sufficient for your needs, please do not hesitate to contact us via email.