Which of the following items are used to formulate a problem?下列哪些项用于对问题进行形式化
选项：

A: Environment环境;
B:Initial state初始状态;
C:Goal state目标状态;
D:Perception感知;
E:Actions动作;
F:Actuator执行器; G:Transition model转换模型; H: Agent function智能体函数; I:Goal test目标检测; J:Path cost路径检测