PDDL语法错误求助：第36行解析失败且oneof未被识别

问题1：PDDL语法解析错误（第36行） #

• 核心错误：PDDL中参数分隔使用空格而非逗号，代码中多处存在逗号误用：
  • 谓词定义：(relative ?x, ?y) 需改为 (relative ?x ?y)
  • 动作参数：(?x ,?s, ?r) 需改为 (?x ?s ?r)（staging_test和biopsy_test的参数均存在此问题）
• 额外问题：Problem文件中对象未指定类型，(:objects p ) 需补充类型声明，示例：(:objects p - person)

问题2：oneof关键字未被识别 #

• 原因：当前Domain的requirements仅声明了:strips :typing，而oneof属于非确定性效果，需要添加对应扩展需求。
• 修复：将Domain中的requirements修改为：

  (:requirements :strips :typing :adl)
  

  ADL扩展包含对非确定性效果（如oneof）的支持，兼容多数现代规划器。

问题3：执行脚本段错误 #

• 段错误通常是规划器解析存在语法错误的PDDL文件时触发的崩溃，修复上述所有语法错误后，该问题大概率会自动解决。

修正后的domain.pddl #

(define (domain cancer_diagnostics)
    (:requirements :strips :typing :adl)
    (:constants
        left_lung_lower_lope left_lung_upper_lope right_lung_upper_lope right_lung_middle_lope right_lung_lower_lope - is_lung_region
        stage1 stage2 stage3 stage4 - valid_stage
    )
    (:predicates
        (has_long_standing_cough ?x)
        (lost_weight ?x)
        (is_old ?x)
        (exposure_to_dust ?x)
        (is_smoker ?x)
        (had_cancer ?x)
        (relative ?x ?y)
        (person ?x)
        (patient ?x)
        (is_lung_region ?r)
        (valid_stage ?s)
        (cancer_suspicion ?x)
        (negative_diagnosis ?x)
        (positive_diagnosis ?x)
        (cancer-location_in_the_lung ?x ?r)
        (cancer_stage ?x ?s)
        (types_of_lung_cancer ?x)
        (inconclusive ?x)
    )
    (:action clinical_test
        :parameters (?x)
        :precondition (and (patient ?x) (has_long_standing_cough ?x) (lost_weight ?x)
            (is_old ?x) (is_smoker ?x) (exposure_to_dust ?x)
             (exists (?y)
                (and (person ?y)
                    (relative ?x ?y)
                    (had_cancer ?y))))
        :effect (cancer_suspicion ?x)
   ) 
    (:action x-ray_test 
        :parameters (?x)
        :precondition (and (patient ?x)
            (cancer_suspicion ?x)
        )
        :effect (oneof
                (positive_diagnosis ?x) 
                (negative_diagnosis ?x)
                (inconclusive ?x)
            )
        )
    (:action imaging_modality
        :parameters (?x)
        :precondition (and 
            (inconclusive ?x)
            (cancer_suspicion ?x)
        )
        :effect (oneof
                    (positive_diagnosis ?x)
                    (negative_diagnosis ?x)
            )
    )
    (:action staging_test ;conclusivy diagnosis action-imaging modality  
        :parameters (?x ?s ?r)
        :precondition (and
            (patient ?x) ;lung part
            (positive_diagnosis ?x)
            (exists (?r) (is_lung_region ?r))
            (exists (?s) (valid_stage ?s))
          )
        :effect (and
                (cancer-location_in_the_lung ?x ?r)
                (cancer_stage ?x ?s)
            )
    )
    (:action biopsy_test
        :parameters (?x ?s ?r)
        :precondition (and (patient ?x)
            (exists (?r) (is_lung_region ?r))
            (exists (?s) (valid_stage ?s))
            (cancer-location_in_the_lung ?x ?r)
            (cancer_stage ?x ?s)
        )
        :effect (types_of_lung_cancer ?x)
    )
)

修正后的problem.pddl #

(define (problem lung_cancer_diagnostics)
    (:domain cancer_diagnostics)
    (:objects
        p - person
        y - person
    )
    (:init
        (patient p)
        (has_long_standing_cough p)
        (lost_weight p)
        (is_old p)
        (is_smoker p)
        (exposure_to_dust p)
        (relative p y)
        (had_cancer y)
    )
    (:goal
        (cancer_suspicion p)
    )
)

注：Problem文件的init部分补充了clinical_test动作所需的全部前置条件，否则将无可行规划路径。

内容的提问来源于stack exchange，提问作者Ndinelago