mirror of
https://github.com/RAIRLab/Spectra.git
synced 2025-11-02 23:01:20 +00:00
Improving DCEC support
- Time based search algorithm - Added new variables ?now and ?next
This commit is contained in:
parent
a747b38233
commit
01883787da
5 changed files with 364 additions and 11 deletions
|
|
@ -4,11 +4,12 @@ import org.rairlab.planner.utils.Visualizer;
|
|||
import org.rairlab.shadow.prover.core.Prover;
|
||||
import org.rairlab.shadow.prover.core.ccprovers.CognitiveCalculusProver;
|
||||
import org.rairlab.shadow.prover.core.proof.Justification;
|
||||
import org.rairlab.shadow.prover.representations.formula.BiConditional;
|
||||
import org.rairlab.shadow.prover.representations.formula.Formula;
|
||||
|
||||
import org.rairlab.shadow.prover.representations.value.Value;
|
||||
import org.rairlab.shadow.prover.representations.value.Variable;
|
||||
import org.rairlab.shadow.prover.representations.formula.*;
|
||||
import org.rairlab.shadow.prover.representations.value.Constant;
|
||||
|
||||
|
||||
import org.rairlab.shadow.prover.utils.CollectionUtils;
|
||||
|
||||
import org.rairlab.shadow.prover.utils.Sets;
|
||||
|
|
@ -16,11 +17,14 @@ import org.apache.commons.lang3.tuple.Pair;
|
|||
import org.apache.commons.lang3.tuple.ImmutablePair;
|
||||
import org.apache.commons.lang3.tuple.Triple;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.HashSet;
|
||||
import java.util.List;
|
||||
import java.util.Map;
|
||||
import java.util.Optional;
|
||||
import java.util.Set;
|
||||
import java.util.concurrent.*;
|
||||
import java.util.stream.Collectors;
|
||||
|
||||
/**
|
||||
* Created by naveensundarg on 1/13/17.
|
||||
|
|
@ -155,10 +159,37 @@ public class Operations {
|
|||
return Optional.of(ans.get().getRight());
|
||||
}
|
||||
|
||||
public static Value getTime(int time) {
|
||||
return new Constant("t" + time);
|
||||
}
|
||||
|
||||
public static Optional<Set<Pair<State, Action>>> apply(Set<Formula> background, Action action, State state) {
|
||||
public static int getTime(Value time) {
|
||||
String s = time.getName();
|
||||
String[] ss = s.split("t");
|
||||
if (ss.length != 2) {
|
||||
return -1;
|
||||
}
|
||||
try {
|
||||
int t = Integer.parseInt(ss[1]);
|
||||
return t + 1;
|
||||
} catch (NumberFormatException e) {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
// Get resulting states from cache if computed before
|
||||
// Take a time value, get the integer number out and
|
||||
// increment by 1
|
||||
public static Value incrementTime(Value time) {
|
||||
int t = getTime(time);
|
||||
if (t < 0) {
|
||||
return new Constant("ERROR");
|
||||
}
|
||||
return new Constant("t" + (t + 1));
|
||||
}
|
||||
|
||||
public static Optional<Set<Pair<State, Action>>> apply(Set<Formula> background, Action action, State state, Value t) {
|
||||
|
||||
// // Get resulting states from cache if computed before
|
||||
if(applyCache.containsKey(Triple.of(background, action, state))){
|
||||
Optional<Set<Pair<State, Action>>> ans = applyCache.get(Triple.of(background, action, state));
|
||||
if(ans.isPresent()){
|
||||
|
|
@ -169,7 +200,22 @@ public class Operations {
|
|||
|
||||
// Ask theorem prover for witnesses that satisfy the precondition
|
||||
Set<Formula> givens = Sets.union(background, state.getFormulae());
|
||||
Optional<Set<Map<Variable, Value>>> bindingsOpt = proveAndGetBindingsCached(givens, action.getPrecondition(), action.openVars());
|
||||
|
||||
// TODO: Have all this ?now and (next ?now) code within Action.java
|
||||
|
||||
// Replace ?now with current time within preconditions
|
||||
Formula precondition = action.getPrecondition();
|
||||
Value now = new Variable("?now");
|
||||
precondition = replaceValue(precondition, now, t);
|
||||
|
||||
// We already replaced the ?now
|
||||
List<Variable> openVars = action.openVars()
|
||||
.stream()
|
||||
.filter(v -> !v.getName().equals("?now"))
|
||||
.collect(Collectors.toList());
|
||||
|
||||
// TODO: Can likely more intelligently cache considering time...
|
||||
Optional<Set<Map<Variable, Value>>> bindingsOpt = proveAndGetBindingsCached(givens, precondition, openVars);
|
||||
|
||||
// If not witnesses found, return nothing
|
||||
if (!bindingsOpt.isPresent()) {
|
||||
|
|
@ -191,9 +237,19 @@ public class Operations {
|
|||
// newState = (oldState - Deletions(a)) U Additions(a)
|
||||
Action groundedAction = action.instantiate(binding);
|
||||
|
||||
Set<Formula> additions = groundedAction.getAdditions();
|
||||
Set<Formula> deletions = groundedAction.getDeletions();
|
||||
|
||||
// Replace (next ?now) with appropriate time
|
||||
Value nextTime = incrementTime(t);
|
||||
Value nextTimeVar = new Variable("?next");
|
||||
additions = replaceValue(additions, nextTimeVar, nextTime);
|
||||
deletions = replaceValue(deletions, nextTimeVar, nextTime);
|
||||
|
||||
|
||||
State newState = State.initializeWith(Sets.union(
|
||||
Sets.difference(state.getFormulae(), groundedAction.getDeletions()),
|
||||
groundedAction.getAdditions()
|
||||
Sets.difference(state.getFormulae(), deletions),
|
||||
additions
|
||||
));
|
||||
|
||||
// If the state progresses, record it as a possible next state
|
||||
|
|
@ -203,10 +259,102 @@ public class Operations {
|
|||
}
|
||||
|
||||
applyCache.put(Triple.of(background, action, state), Optional.of(nextStates));
|
||||
|
||||
return Optional.of(nextStates);
|
||||
|
||||
}
|
||||
|
||||
public static State replaceValue(State s, Value r, Value t) {
|
||||
Set<Formula> newFormulae = replaceValue(s.getFormulae(), r, t);
|
||||
return State.initializeWith(newFormulae);
|
||||
}
|
||||
|
||||
public static Set<Formula> replaceValue(Set<Formula> s, Value r, Value t) {
|
||||
Set<Formula> newFormulae = new HashSet<Formula>();
|
||||
for (Formula f : s) {
|
||||
newFormulae.add(replaceValue(f, r, t));
|
||||
}
|
||||
return newFormulae;
|
||||
}
|
||||
|
||||
public static Value replaceValue(Value v, Value r, Value t) {
|
||||
if (v.getName().equals(r.getName())) {
|
||||
return t;
|
||||
}
|
||||
return v;
|
||||
}
|
||||
|
||||
// Everywhere where there's a ?now replace with value t
|
||||
public static Formula replaceValue(Formula f, Value r, Value t) {
|
||||
// Base Cases:
|
||||
|
||||
// Bottom of Formula graph wouldn't have any time points under it
|
||||
if (f instanceof Predicate || f instanceof Atom) {
|
||||
return f;
|
||||
}
|
||||
|
||||
// Check if these quantifiers contain our bound varialbe
|
||||
if (f instanceof UnaryModalFormula) {
|
||||
UnaryModalFormula uf = (UnaryModalFormula) f;
|
||||
|
||||
Value agent = uf.getAgent();
|
||||
Value time = uf.getTime();
|
||||
Value newTime = replaceValue(time, r, t);
|
||||
Formula uf_sub = uf.getFormula();
|
||||
Formula new_uf_sub = replaceValue(uf_sub, r, t);
|
||||
|
||||
if (f instanceof Belief) {
|
||||
return new Belief(agent, newTime, new_uf_sub);
|
||||
} else if (f instanceof Intends) {
|
||||
return new Intends(agent, newTime, new_uf_sub);
|
||||
} else if (f instanceof Knowledge) {
|
||||
return new Knowledge(agent, newTime, new_uf_sub);
|
||||
}
|
||||
// Assumes Perception
|
||||
if (! (f instanceof Perception)) {
|
||||
System.out.println("[fixTimepoints:Operations.java] Doesn't account for new modal operator");
|
||||
}
|
||||
return new Perception(agent, newTime, new_uf_sub);
|
||||
}
|
||||
|
||||
// Recusive Case: Iterate over each subformula and replace
|
||||
|
||||
if (f instanceof Not) {
|
||||
Formula subFormula = ((Not) f).getArgument();
|
||||
return new Not(replaceValue(subFormula, r, t));
|
||||
} else if (f instanceof Universal) {
|
||||
Formula subFormula = ((Universal) f).getArgument();
|
||||
return new Universal(((Universal) f).vars(), replaceValue(subFormula, r, t));
|
||||
} else if (f instanceof Existential) {
|
||||
Formula subFormula = ((Existential) f).getArgument();
|
||||
return new Universal(((Existential) f).vars(), replaceValue(subFormula, r, t));
|
||||
} else if (f instanceof Implication) {
|
||||
Formula antecedant = ((Implication) f).getAntecedent();
|
||||
Formula consequent = ((Implication) f).getConsequent();
|
||||
return new Implication(replaceValue(antecedant, r, t), replaceValue(consequent, r, t));
|
||||
} else if (f instanceof BiConditional) {
|
||||
Formula left = ((BiConditional) f).getLeft();
|
||||
Formula right = ((BiConditional) f).getRight();
|
||||
return new BiConditional(replaceValue(left, r, t), replaceValue(right, r, t));
|
||||
}
|
||||
|
||||
List<Formula> subFormulae = f.getArgs();
|
||||
List<Formula> newArguments = new ArrayList<Formula>();
|
||||
for (Formula sf : subFormulae) {
|
||||
newArguments.add(replaceValue(sf, r, t));
|
||||
}
|
||||
|
||||
if (f instanceof And) {
|
||||
return new And(newArguments);
|
||||
}
|
||||
|
||||
// Assume Or
|
||||
if (! (f instanceof Or)) {
|
||||
System.out.println("[fixTimepoints:Operations.java] Not accounting for formula type in recursive case");
|
||||
}
|
||||
return new Or(newArguments);
|
||||
}
|
||||
|
||||
public static boolean equivalent(Set<Formula> background, Formula f1, Formula f2) {
|
||||
if (!DEEP_EQUIVALENCE) {
|
||||
return f1.equals(f2);
|
||||
|
|
|
|||
|
|
@ -6,6 +6,7 @@ import org.rairlab.planner.State;
|
|||
import org.rairlab.planner.Action;
|
||||
import org.rairlab.planner.Plan;
|
||||
import org.rairlab.planner.Operations;
|
||||
import org.rairlab.shadow.prover.representations.value.Value;
|
||||
|
||||
import java.util.*;
|
||||
import java.util.function.Function;
|
||||
|
|
@ -67,6 +68,10 @@ public class AStarPlanner {
|
|||
comparator.setValue(searchStart, 0);
|
||||
search.add(searchStart);
|
||||
|
||||
// For debugging...
|
||||
Map<State, List<Action>> seq = new HashMap<State, List<Action>>();
|
||||
seq.put(start, new ArrayList<Action>());
|
||||
|
||||
// Current set of plans
|
||||
Set<Plan> plansFound = new HashSet<Plan>();
|
||||
|
||||
|
|
@ -81,7 +86,11 @@ public class AStarPlanner {
|
|||
State lastState = currentSearch.getLeft();
|
||||
List<Action> previous_actions = currentSearch.getRight();
|
||||
|
||||
// System.out.println("Considering state with heuristic: " + comparator.getValue(currentSearch));
|
||||
System.out.println("--------------------");
|
||||
System.out.println("Considering state with heuristic: " + comparator.getValue(currentSearch));
|
||||
System.out.println("Current Plan: " + seq.get(lastState).toString());
|
||||
System.out.println("Current State: " + lastState.toString());
|
||||
System.out.println("--------------------");
|
||||
|
||||
// Exit loop if we've passed the depth limit
|
||||
int currentDepth = previous_actions.size();
|
||||
|
|
@ -105,7 +114,10 @@ public class AStarPlanner {
|
|||
|
||||
// Apply the action to the state and add to the search space
|
||||
for (Action action : nonTrivialActions) {
|
||||
Optional<Set<Pair<State, Action>>> optNextStateActionPairs = Operations.apply(background, action, lastState);
|
||||
// System.out.println("Considering action: " + action.getName());
|
||||
|
||||
Value currentTime = Operations.getTime(previous_actions.size());
|
||||
Optional<Set<Pair<State, Action>>> optNextStateActionPairs = Operations.apply(background, action, lastState, currentTime);
|
||||
|
||||
// Ignore actions that aren't applicable
|
||||
if (optNextStateActionPairs.isEmpty()) {
|
||||
|
|
@ -137,6 +149,10 @@ public class AStarPlanner {
|
|||
int heuristicValue = heuristic.apply(nextState);
|
||||
comparator.setValue(futureSearch, planCost + heuristicValue);
|
||||
search.add(futureSearch);
|
||||
|
||||
// For debugging...
|
||||
seq.put(nextState, next_actions);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -46,7 +46,7 @@ public final class Runner {
|
|||
}
|
||||
|
||||
AStarPlanner astarplanner = new AStarPlanner();
|
||||
astarplanner.setK(2);
|
||||
astarplanner.setK(1);
|
||||
|
||||
for (PlanningProblem planningProblem : planningProblemList) {
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,108 @@
|
|||
; Original problem from Joerg Hoffmann and Ronen Brafman
|
||||
{:name "Block-Conformant-Tiny"
|
||||
:background [
|
||||
; Setting object types
|
||||
(block b1)
|
||||
(block b2)
|
||||
|
||||
; Unique name axioms
|
||||
(not (= b1 b2))
|
||||
|
||||
; Block World Axioms
|
||||
|
||||
; Blocks are never on themselves
|
||||
(forall [x] (not (on x x)))
|
||||
; on is not symmetric
|
||||
(forall [x y] (if (on x y) (not (on y x))))
|
||||
; Any block on a table isn't on top of another block
|
||||
(forall [x y] (if (on-table x) (not (on x y))))
|
||||
; Any block that is cleared does not have another block on top of it
|
||||
(forall [x y] (if (clear x) (not (on y x))))
|
||||
|
||||
; NOTE: Slow if we use complicated definitions
|
||||
;; ; A block is on the table if it isn't on top of any other block
|
||||
;; (forall [x] (iff (on-table x) (forall [y] (not (on x y)))))
|
||||
;; ; A block is cleared if there is no other block on top of it
|
||||
;; (forall [x] (iff (clear x) (forall [y] (not (on y x)))))
|
||||
]
|
||||
|
||||
|
||||
:actions [
|
||||
|
||||
(define-action move-bstack-to-t [?b ?b1] {
|
||||
:preconditions [
|
||||
; Type restriction
|
||||
(block ?b)
|
||||
(block ?b1)
|
||||
; Arguments unique
|
||||
(not (= ?b ?b1))
|
||||
|
||||
; Preconditions
|
||||
;; (not (on-table ?b))
|
||||
|
||||
]
|
||||
; TODO: Think hard about the effect
|
||||
;; :effect (and (when (on ?b ?bl)
|
||||
;; (and (not (on ?b ?bl)) (on-table ?b) (clear ?bl)))))
|
||||
:additions [
|
||||
; The following creates a contradiction because
|
||||
; (on-table ?b) -> (not (on ?b ?b1)) and
|
||||
; we can't have P -> \neg P
|
||||
;; (if (on ?b ?b1) (and (on-table ?b) (clear ?b1)))
|
||||
|
||||
]
|
||||
:deletions [ ]
|
||||
})
|
||||
|
||||
(define-action move-t-to-b [?bm ?bt ?t] {
|
||||
:preconditions [
|
||||
; Type restrictions
|
||||
(block ?bm)
|
||||
(block ?bt)
|
||||
; Arguments unique
|
||||
(not (= ?bm ?bt))
|
||||
; Primary preconditions
|
||||
(clear ?bm ?t)
|
||||
(clear ?bt ?t)
|
||||
(on-table ?bm ?t)
|
||||
]
|
||||
:additions [
|
||||
(on ?bm ?bt (s ?t))
|
||||
|
||||
(not (clear ?bt (s ?t)))
|
||||
(not (on-table ?bm (s ?t)))
|
||||
]
|
||||
:deletions [
|
||||
;; (not (on ?bm ?bt))
|
||||
|
||||
;; (clear ?bt)
|
||||
;; (on-table ?bm)
|
||||
]
|
||||
})
|
||||
]
|
||||
:start [
|
||||
; Unknown facts don't need to be stated
|
||||
; since we don't assume closed world assumption.
|
||||
|
||||
; Negated predicates in this example is handled by
|
||||
; the block world axioms
|
||||
|
||||
(or
|
||||
(and
|
||||
(on b2 b1 t0)
|
||||
(clear b2 t0)
|
||||
(on-table b1 t0)
|
||||
)
|
||||
|
||||
(and
|
||||
(on b1 b2 t0)
|
||||
(clear b1 t0)
|
||||
(on-table b2 t0)
|
||||
)
|
||||
)
|
||||
]
|
||||
:goal [
|
||||
(exists [x] (on b2 b1 x))
|
||||
]
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,81 @@
|
|||
; Original problem from Joerg Hoffmann and Ronen Brafman
|
||||
{:name "Block-Conformant-Tiny"
|
||||
:background [
|
||||
; Setting object types
|
||||
(Believes! a t0 (block b1))
|
||||
(Believes! a t0 (block b2))
|
||||
|
||||
; Unique name axioms
|
||||
(Believes! a t0 (not (= b1 b2)))
|
||||
|
||||
; Block World Axioms
|
||||
|
||||
; Blocks are never on themselves
|
||||
(Believes! a t0 (forall [x] (not (on x x))))
|
||||
; on is not symmetric
|
||||
(Believes! a t0 (forall [x y] (if (on x y) (not (on y x)))))
|
||||
; Any block on a table isn't on top of another block
|
||||
(Believes! a t0 (forall [x y] (if (on-table x) (not (on x y)))))
|
||||
; Any block that is cleared does not have another block on top of it
|
||||
(Believes! a t0 (forall [x y] (if (clear x) (not (on y x)))))
|
||||
]
|
||||
|
||||
|
||||
:actions [
|
||||
|
||||
(define-action move-t-to-b [?bm ?bt] {
|
||||
:preconditions [
|
||||
(Believes! a ?now (and
|
||||
; Type Restrictions
|
||||
(block ?bm)
|
||||
(block ?bt)
|
||||
; Arguments Unique
|
||||
(not (= ?bm ?bt))
|
||||
; Primary preconditions
|
||||
(clear ?bm)
|
||||
(clear ?bt)
|
||||
(on-table ?bm)
|
||||
))
|
||||
; NOTE: QA Algorithm is very barebones,
|
||||
; currently does not support beliefs under
|
||||
; binary operations. Example:
|
||||
;; (and
|
||||
;; (Believes! a t0 (block ?bm))
|
||||
;; (Believes! a t0 (block ?bt))
|
||||
;; )
|
||||
]
|
||||
:additions [
|
||||
; ShadowProver uses string comparisons to determine
|
||||
; ordering on time points.
|
||||
; Spectra currently hacks around this by replacing
|
||||
; ?next where the constant
|
||||
; that represents ?now + 1.
|
||||
; ShadowProver Limitation: Cannot go beyond 10 time points
|
||||
(Believes! a ?next (on ?bm ?bt))
|
||||
|
||||
; These below shouldn't be needed but left for posterity
|
||||
;; (Believes! a ?next (not (clear ?bt)))
|
||||
;; (Believes! a ?next (not (on-table ?bm)))
|
||||
]
|
||||
:deletions [ ]
|
||||
})
|
||||
]
|
||||
:start [
|
||||
; Unknown facts don't need to be stated
|
||||
; since we don't assume closed world assumption.
|
||||
|
||||
; Negated predicates in this example is handled by
|
||||
; the block world axioms
|
||||
|
||||
(Believes! a t0 (on-table b2))
|
||||
(Believes! a t0 (on-table b1))
|
||||
(Believes! a t0 (clear b1))
|
||||
(Believes! a t0 (clear b2))
|
||||
]
|
||||
:goal [
|
||||
;; (Believes! a t0 (clear ?bm))
|
||||
; Try a there exists at some point
|
||||
(exists [t] (Believes! a t (on b1 b2)))
|
||||
]
|
||||
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue