mirror of
https://github.com/RAIRLab/Spectra.git
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Caching and new problem.
This commit is contained in:
Naveen Sundar Govindarajulu
parent
17cf8b245d
commit
04995c6990
9 changed files with 400 additions and 42 deletions
6
pom.xml
6
pom.xml
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@ -35,6 +35,12 @@
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<version>0.5.0</version>
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</dependency>
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<dependency>
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<groupId>com.google.guava</groupId>
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<artifactId>guava</artifactId>
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<version>21.0</version>
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</dependency>
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</dependencies>
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<properties>
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<maven.compiler.source>1.8</maven.compiler.source>
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@ -13,7 +13,7 @@ import java.util.stream.Collectors;
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public class DepthFirstPlanner implements Planner {
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private static int MAX_DEPTH = 3;
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private static int MAX_DEPTH = 4;
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private static boolean EXHAUSTIVE_TILL_MAX_DEPTH = false;
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public static int getMaxDepth() {
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@ -31,6 +31,8 @@ public class GoalTracker {
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this.currentGoals = CollectionUtils.newEmptySet();
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this.planner = new DepthFirstPlanner();
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this.actions = actions;
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Operations.reset();
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}
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@ -2,7 +2,7 @@ package edu.rpi.rair;
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import com.naveensundarg.shadow.prover.core.Prover;
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import com.naveensundarg.shadow.prover.core.SnarkWrapper;
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import com.naveensundarg.shadow.prover.representations.formula.And;
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import com.naveensundarg.shadow.prover.core.proof.Justification;
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import com.naveensundarg.shadow.prover.representations.formula.BiConditional;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.representations.value.Value;
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@ -11,6 +11,7 @@ import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.ImmutablePair;
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import com.naveensundarg.shadow.prover.utils.Pair;
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import com.naveensundarg.shadow.prover.utils.Sets;
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import org.apache.commons.lang3.tuple.Triple;
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import java.util.List;
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import java.util.Map;
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@ -31,8 +32,75 @@ public class Operations {
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private static Prover prover;
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private static final Map<Pair<Set<Formula>, Formula>, Optional<Justification>> proverCache = CollectionUtils.newMap();
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private static final Map<Triple<Set<Formula>, Formula, List<Variable>>, Optional<Set<Map<Variable, Value>>>> proverBindingsCache = CollectionUtils.newMap();
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private static final Map<Triple<Set<Formula>, Action, State>, Optional<Set<Pair<State, Action>>> > applyCache = CollectionUtils.newMap();
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public static void reset(){
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proverCache.clear();
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proverBindingsCache.clear();
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applyCache.clear();
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}
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static {
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prover = new SnarkWrapper();
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}
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public static synchronized Optional<Justification> proveCached(Set<Formula> assumptions, Formula goal) {
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Pair<Set<Formula>, Formula> inputPair = ImmutablePair.from(assumptions, goal);
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if (proverCache.containsKey(inputPair)) {
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return proverCache.get(inputPair);
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}
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Optional<Map.Entry<Pair<Set<Formula>, Formula>, Optional<Justification>>> cachedOptional = proverCache.entrySet().stream().filter(pairOptionalEntry -> {
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Set<Formula> cachedAssumptions = pairOptionalEntry.getKey().first();
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Formula cachedGoal = pairOptionalEntry.getKey().second();
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return cachedGoal.equals(goal) && Sets.subset(cachedAssumptions, assumptions);
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}).findAny();
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if(cachedOptional.isPresent()){
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return cachedOptional.get().getValue();
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}
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{
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Optional<Justification> answer = prover.prove(assumptions, goal);
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proverCache.put(inputPair, answer);
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return answer;
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}
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}
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public static synchronized Optional<Set<Map<Variable, Value>>> proveAndGetBindingsCached(Set<Formula> givens, Formula goal, List<Variable> variables) {
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Triple<Set<Formula>, Formula, List<Variable>> inputTriple = Triple.of(givens, goal, variables);
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if (proverBindingsCache.containsKey(inputTriple)) {
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return proverBindingsCache.get(inputTriple);
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} else {
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Optional<Set<Map<Variable, Value>>> answer = proveAndGetMultipleBindings(givens, goal, variables);
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proverBindingsCache.put(inputTriple, answer);
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return answer;
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}
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}
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public static synchronized Optional<Map<Variable, Value>> proveAndGetBindings(Set<Formula> givens, Formula goal, List<Variable> variables) {
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@ -75,19 +143,24 @@ public class Operations {
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*/
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}
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public static Optional<Set<Pair<State, Action>>> apply(Set<Formula> background, Action action, State state) {
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if(applyCache.containsKey(Triple.of(background, action, state))){
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return applyCache.get(Triple.of(background, action, state));
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}
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Set<Formula> givens = Sets.union(background, state.getFormulae());
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Optional<Set<Map<Variable, Value>>> bindingsOpt = proveAndGetMultipleBindings(givens, action.getPrecondition(), action.openVars());
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Optional<Set<Map<Variable, Value>>> bindingsOpt = proveAndGetBindingsCached(givens, action.getPrecondition(), action.openVars());
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State newState;
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if (!bindingsOpt.isPresent()) {
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applyCache.put(Triple.of(background, action ,state), Optional.empty());
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return Optional.empty();
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}
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@ -143,6 +216,8 @@ public class Operations {
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}
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applyCache.put(Triple.of(background, action ,state), Optional.of(nexts));
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return Optional.of(nexts);
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}
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@ -154,19 +229,24 @@ public class Operations {
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}
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BiConditional biConditional = new BiConditional(f1, f2);
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return prover.prove(background,biConditional).isPresent();
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return proveCached(background, biConditional).isPresent();
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}
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public static boolean satisfies(Set<Formula> background, State state, State goal) {
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if ((Sets.union(background, state.getFormulae()).containsAll(goal.getFormulae()))) {
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return true;
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}
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return goal.getFormulae().stream().
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allMatch(x->prover.prove(Sets.union(background, state.getFormulae()), x).isPresent());
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allMatch(x -> proveCached(Sets.union(background, state.getFormulae()), x).isPresent());
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}
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public static boolean conflicts(Set<Formula> background, State state1, State state2) {
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return prover.prove(Sets.union(background, Sets.union(state1.getFormulae(), state2.getFormulae())), FALSE ).isPresent();
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return proveCached(Sets.union(background, Sets.union(state1.getFormulae(), state2.getFormulae())), FALSE).isPresent();
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}
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@ -32,7 +32,7 @@ public class RunDemo {
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List<Problem> problems = ProblemReader.readFrom(Sandbox.class.getResourceAsStream("firstorder-completness-tests.clj"));
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problems.forEach(problem -> {
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for (int i = 0; i < 100; i++) {
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for (int i = 0; i < 10; i++) {
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prover.prove(problem.getAssumptions(), problem.getGoal());
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}
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@ -53,7 +53,7 @@ public class RunDemo {
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System.out.println();
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List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_3.clj")));
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List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_1.clj")));
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GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
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@ -79,7 +79,7 @@
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G4 {:priority 1.0
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:state [(in prisoner room2)
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(in self room2)]}
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G5 {:priority 1.0
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G5 {:priority 3
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:state [(interrogates commander prisoner)]}}
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@ -3,7 +3,7 @@
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:background []
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:start [
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(forall (?room ?x ?y) (implies (and (in ?x ?room) (and (in ?y ?room) (not (= ?x ?y)))) (sameroom ?x ?y)))
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; (forall (?room ?x ?y) (implies (and (in ?x ?room) (and (in ?y ?room) (not (= ?x ?y)))) (sameroom ?x ?y)))
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(not (= prisoner commander))
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(not (= self prisoner))
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(in prisoner room1)
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@ -18,7 +18,7 @@
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(not (= self commander))
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(not (open (door room1)))
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(open (door room2))
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(forall (?room ?x ?y) (implies (and (sameroom ?x ?y) (in ?x ?room)) (in ?y ?room)))
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; (forall (?room ?x ?y) (implies (and (sameroom ?x ?y) (in ?x ?room)) (in ?y ?room)))
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]
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@ -96,7 +96,9 @@
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:state [(in prisoner room1)]}
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G3 {:priority 1.0
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:state [(sameroom self prisoner)]}
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:state [(forall [?room]
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(if (in prisoner ?room)
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(in self ?room)))]}
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G4 {:priority 3.0
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:state [(in prisoner room2)]}
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127
src/main/resources/edu/rpi/rair/goal_management_4.clj
Normal file
127
src/main/resources/edu/rpi/rair/goal_management_4.clj
Normal file
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@ -0,0 +1,127 @@
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{:definitions
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{:name "demo 1"
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:background []
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:start [
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(person prisoner)
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(person commander)
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(commander commander)
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(robot guard)
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(robot guide)
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(not (= prisoner commander))
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(not (= prisoner guard))
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(not (= prisoner guide))
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(not (= commander guard))
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(not (= commander guide))
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(not (= guard guide))
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(room room1)
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(room room2)
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(not (= room1 room2))
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(in prisoner room1)
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(in commander room2)
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(in guard room1)
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(in guide room2)
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(not (open (door room1)))
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(open (door room2))
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(forall (?room ?x ?y) (implies (and (in ?x ?room) (in ?y ?room)) (sameroom ?x ?y)))
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(forall (?room2 ?x ?room1) (implies (and (not (= ?room1 ?room2)) (in ?x ?room1)) (not (in ?x ?room2))))
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(forall (?room ?x ?y) (implies (and (sameroom ?x ?y) (in ?x ?room)) (in ?y ?room)))
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]
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:goal []
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:actions
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[
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(define-action move [?actor ?person ?room2 ?room1]
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{:preconditions [(robot ?actor)
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(person ?person)
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(room ?room1)
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(room ?room2)
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(not (= ?room1 ?room2))
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(open (door ?room1))
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(in ?actor ?room2)
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(in ?person ?room2)
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(open (door ?room2))]
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:additions [(in ?person ?room1)]
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:deletions [(in ?person ?room2)]
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})
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(define-action keepDoorClosed [?actor ?room]
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{:preconditions [(robot ?actor)
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(room ?room)
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(in ?actor ?room)
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(not (open (door ?room)))]
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:additions []
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:deletions [(open (door ?room))]
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})
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(define-action accompany [?actor ?person ?room1 ?room2]
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{:preconditions [(robot ?actor)
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(person ?person)
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(room ?room1)
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(room ?room2)
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(not (= ?room1 ?room2))
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(open (door ?room1))
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(in ?person ?room1)
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(open (door ?room2))
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(not (= ?person ?actor))
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(in ?actor ?room1)]
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:additions [(in ?actor ?room2)
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(in ?person ?room2)]
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:deletions [(in ?person ?room1)
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(in ?actor ?room1)]
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})
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(define-action openDoor [?actor ?room]
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{:preconditions [(robot ?actor)
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(room ?room)
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(in ?actor ?room)
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(not (open (door ?room)))]
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:additions [(open (door ?room))]
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:deletions [(not (open (door ?room)))]
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})
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(define-action stayInRoom [?actor ?room]
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{:preconditions [(in ?actor ?room)
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(room ?room)]
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:additions [(in ?actor ?room)]
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:deletions []
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})
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(define-action interrogate [?actor ?person]
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{:preconditions [(person ?person)
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(commander ?actor)
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(in ?actor ?room)
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(in ?person ?room)
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(room ?room)]
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:additions [(interrogates ?actor ?person)]
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:deletions []
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})
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(define-action staySameRoom [?actor ?person]
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{:preconditions [(robot ?actor)
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(sameroom ?actor ?person)
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(person ?person)
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(in ?actor ?room)
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(in ?person ?room)
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(room ?room)]
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:additions [(sameroom ?actor ?person)]
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:deletions []
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})
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]
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}
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:goals {G1 {:priority 1.0
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:state [(not (open (door room1)))]}
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G2 {:priority 1.0
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:state [(in prisoner room1)]}
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G3 {:priority 1.0
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:state [(sameroom guard prisoner)]}
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G4 {:priority 6.0
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:state [(interrogates commander prisoner)]}
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}
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}
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141
src/main/resources/edu/rpi/rair/goal_management_5.clj
Normal file
141
src/main/resources/edu/rpi/rair/goal_management_5.clj
Normal file
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@ -0,0 +1,141 @@
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{:definitions
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{:name "demo 1"
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:background []
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:start [
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(person prisoner)
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(person commander)
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(commander commander)
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(robot guard)
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(robot guide)
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(not (= prisoner commander))
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(not (= prisoner guard))
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(not (= prisoner guide))
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(not (= commander guard))
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(not (= commander guide))
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(not (= guard guide))
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(room room1)
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(room room2)
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(room hallway)
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(not (= room1 room2))
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(not (= room1 hallway))
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(not (= room2 hallway))
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(in prisoner room1)
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(in commander room2)
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(in guard room1)
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(in guide hallway)
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(not (open (door room1)))
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(open (door room2))
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(open (door hallway))
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(forall [?x ?y] (if (accompanies ?x ?y) (accompanies ?y ?x)))
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(forall (?room ?x ?y) (implies (and (in ?x ?room) (and (in ?y ?room) (not (= ?x ?y)))) (sameroom ?x ?y)))
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(forall (?room2 ?x ?room1) (implies (and (not (= ?room1 ?room2)) (in ?x ?room1)) (not (in ?x ?room2))))
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(forall (?room ?x ?y) (implies (and (sameroom ?x ?y) (in ?x ?room)) (in ?y ?room)))
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]
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:goal []
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:actions
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[
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(define-action move [?actor ?room1 ?room2]
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{:preconditions [(robot ?actor)
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(room ?room1)
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(room ?room2)
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(in ?actor ?room1)
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(open (door ?room1))
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(open (door ?room2))
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(not (= ?room1 ?room2))]
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:additions [(in ?actor ?room2)]
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:deletions [(in ?actor ?room1)]
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})
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(define-action keepDoorClosed [?actor ?room]
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{:preconditions [(robot ?actor)
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(room ?room)
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(in ?actor ?room)
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(not (open (door ?room)))]
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:additions []
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:deletions [(open (door ?room))]
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})
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(define-action accompany [?actor ?person1 ?person2 ?room1 ?room2]
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{:preconditions [(robot ?actor)
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(person ?person1)
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(room ?room1)
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(room ?room2)
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(in ?actor ?room1)
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(in ?person1 ?room1)
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(in ?person2 ?room2)
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(open (door ?room1))
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(open (door ?room2))
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(not (= ?actor ?person1))
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(not (= ?actor ?person2))
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(not (= ?room1 ?room2))]
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:additions [(accompanies ?person1 ?person2)
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(in ?actor ?room2)
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(in ?person1 ?room2)]
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:deletions [(in ?actor ?room1)
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(in ?person1 ?room1)]
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})
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(define-action accompany2 [?actor ?person1 ?person2]
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{:preconditions [(robot ?actor)
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(person ?person1)
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(person ?person2)
|
||||
(in ?actor ?room)
|
||||
(in ?person1 ?room)
|
||||
(in ?person2 ?room)
|
||||
(not (= ?actor ?person1))
|
||||
(not (= ?actor ?person2))
|
||||
(not (= ?person1 ?person2))]
|
||||
:additions [(accompanies ?actor ?person1 ?person2)]
|
||||
:deletions []
|
||||
})
|
||||
|
||||
(define-action openDoor [?actor ?room]
|
||||
{:preconditions [(robot ?actor)
|
||||
(room ?room)
|
||||
(in ?actor ?room)
|
||||
(not (open (door ?room)))]
|
||||
:additions [(open (door ?room))]
|
||||
:deletions [(not (open (door ?room)))]
|
||||
})
|
||||
(define-action stayInRoom [?actor ?room]
|
||||
{:preconditions [(in ?actor ?room)
|
||||
(room ?room)]
|
||||
:additions [(in ?actor ?room)]
|
||||
:deletions []
|
||||
})
|
||||
(define-action staySameRoom [?actor ?person]
|
||||
{:preconditions [(robot ?actor)
|
||||
(sameroom ?actor ?person)
|
||||
(person ?person)
|
||||
(in ?actor ?room)
|
||||
(in ?person ?room)
|
||||
(room ?room)]
|
||||
:additions [(sameroom ?actor ?person)]
|
||||
:deletions []
|
||||
})
|
||||
|
||||
]
|
||||
}
|
||||
|
||||
:goals {G1 {:priority 1.0
|
||||
:state [(not (open (door room1)))]}
|
||||
|
||||
G2 {:priority 1.0
|
||||
:state [(in prisoner room1)]}
|
||||
|
||||
G3 {:priority 1.0
|
||||
:state [(sameroom guard prisoner)]}
|
||||
|
||||
G4 {:priority 3.0
|
||||
:state [(accompanies prisoner commander)]}
|
||||
}
|
||||
|
||||
}
|
||||
Loading…
Reference in a new issue