Improvements to BreadthFirstPlanner

- Allow for unbounded search
- Allow for a way to look for a certain number of plans
- Use Pair from standard library

src/main/java/com/naveensundarg/planner/BreadthFirstPlanner.java

@@ -1,119 +1,120 @@
 package com.naveensundarg.planner;
 
-import com.naveensundarg.planner.utils.PlanningProblem;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
-import com.naveensundarg.shadow.prover.utils.Pair;
-import com.naveensundarg.shadow.prover.utils.Sets;
 
 import java.util.*;
 import java.util.stream.Collectors;
 
-import org.apache.commons.lang3.tuple.Triple;
+import org.apache.commons.lang3.tuple.Pair;
-
-
 
 /**
- * Created by naveensundarg on 1/13/17.
+ * Created by brandonrozek on 03/29/2023.
  */
-public class BreadthFirstPlanner implements Planner {
+public class BreadthFirstPlanner {
 
-    private static int MAX_DEPTH = 7;
+    // The longest plan to search for, -1 means no bound
+    private int MAX_DEPTH = -1;
+    // Number of plans to look for, -1 means up to max_depth
+    private int K = -1;
 
     public BreadthFirstPlanner(){ }
 
-    public static int getMaxDepth() {
+    public Set<Plan> plan(Set<Formula> background, Set<Action> actions, State start, State goal) {
-        return MAX_DEPTH;
-    }
-
-    public static void setMaxDepth(int maxDepth) {
-        MAX_DEPTH = maxDepth;
-    }
-
-    @Override
-    public Optional<Set<Plan>> plan(Set<Formula> background, Set<Action> actions, State start, State goal) {
-
 
         // Search Space Data Structures
         Set<State> history = new HashSet<State>();
-        Queue<Triple<List<State>, List<Action>, Integer>> search = new ArrayDeque<Triple<List<State>,List<Action>,Integer>>();
+        // Each node in the search space consists of
+        // (state, sequence of actions from initial)
+        Queue<Pair<List<State>, List<Action>>> search = new ArrayDeque<Pair<List<State>,List<Action>>>();
 
         // Submit Initial State
-        search.add(Triple.of(List.of(start), new ArrayList<Action>(), 0));
+        search.add(Pair.of(List.of(start), new ArrayList<Action>()));
+
+        // Current set of plans
+        Set<Plan> plansFound = new HashSet<Plan>();
 
         // Breadth First Traversal until
-        // - Goal Reached
         // - No more actions can be applied
         // - Max depth reached
-        while (!search.isEmpty()) {
+        // - Found K plans
-
+        while (!search.isEmpty() && !(K > 0 && plansFound.size() >= K)) {
-            Triple<List<State>, List<Action>, Integer> currentSearch = search.remove();
-            
-            // Return if we're past the depth limit
-            int currentDepth = currentSearch.getRight();
-            if (currentDepth >= MAX_DEPTH) {
-                return Optional.empty();
-            }
 
+            Pair<List<State>, List<Action>> currentSearch = search.remove();
             List<State> previous_states = currentSearch.getLeft();
-            List<Action> previous_actions = currentSearch.getMiddle();
+            List<Action> previous_actions = currentSearch.getRight();
-
             State lastState = previous_states.get(previous_states.size() - 1);
 
+            // Exit loop if we've passed the depth limit
+            int currentDepth = previous_actions.size();
+            if (MAX_DEPTH > 0 && currentDepth > MAX_DEPTH) {
+               break;
+            }
+
             // If we're at the goal return
             if (Operations.satisfies(background, lastState, goal)) {
-                return Optional.of(Sets.with(
+                plansFound.add(new Plan(previous_actions, previous_states, background));
-                    new Plan(previous_actions, previous_states, background)
+                continue;
-                ));
             }
 
-            // Try to apply each action to get to the next state
+            // Only consider non-trivial actions
-            for (Action action : actions.stream().filter(Action::isNonTrivial).collect(Collectors.toSet())) {
+            Set<Action> nonTrivialActions = actions.stream()
-                Optional<Set<Pair<State, Action>>> nextStateActionPairs = Operations.apply(background, action, lastState);
+                .filter(Action::isNonTrivial)
+                .collect(Collectors.toSet());
 
-                if (nextStateActionPairs.isPresent()) {
+            // 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);
 
-                    // Actions aren't grounded, so each nextState represents a different
+                // Ignore actions that aren't applicable
-                    // paramter binding
+                if (optNextStateActionPairs.isEmpty()) {
-                    for (Pair<State, Action> stateActionPair : nextStateActionPairs.get()) {
+                    continue;
-                        State nextState = stateActionPair.first();
+                }
-                        Action nextAction = stateActionPair.second();
 
-                        // Prune already visited states
+                // Action's aren't grounded so each nextState represents
-                        if (history.contains(nextState)) {
+                // a different parameter binding
-                            continue;
+                Set<Pair<State, Action>> nextStateActionPairs = optNextStateActionPairs.get();
-                        }
+                for (Pair<State, Action> stateActionPair: nextStateActionPairs) {
+                    State nextState = stateActionPair.getLeft();
+                    Action nextAction = stateActionPair.getRight();
 
-                        List<State> next_states = new ArrayList<State>(previous_states);
+                    // Prune already visited states
-                        next_states.add(nextState);
+                    if (history.contains(nextState)) {
-
+                        continue;
-                        List<Action> next_actions = new ArrayList<Action>(previous_actions);
-                        next_actions.add(nextAction);
-
-                        // Add new state to history and search space
-                        search.add(Triple.of(next_states, next_actions, currentDepth + 1));
-                        history.add(nextState);
                     }
+
+                    // Add to history
+                    history.add(nextState);
+
+                    // Construct search space parameters
+                    List<State> next_states = new ArrayList<State>(previous_states);
+                    next_states.add(nextState);
+
+                    List<Action> next_actions = new ArrayList<Action>(previous_actions);
+                    next_actions.add(nextAction);
+
+                    // Add to search space
+                    search.add(Pair.of(next_states, next_actions));
                 }
             }
-
         }
 
-        return Optional.empty();
+        return plansFound;
     }
 
-    @Override
+    public int getMaxDepth() {
-    public Optional<Set<Plan>> plan(PlanningProblem problem, Set<Formula> background, Set<Action> actions, State start, State goal) {
+        return MAX_DEPTH;
-        return Optional.empty();
     }
 
-
+    public void setMaxDepth(int maxDepth) {
-     public Optional<Set<Plan>> plan(PlanningProblem problem, Set<Formula> background, Set<Action> actions, State start, State goal, List<PlanMethod> planMethods){
+        MAX_DEPTH = maxDepth;
-        return Optional.empty();
     }
 
+    public void setK(int k) {
+        K = k;
+    }
 
-    public Optional<Plan> verify(Set<Formula> background, State start, State goal, PlanSketch planSketch){
+    public int getK() {
-        return Optional.empty();
+        return K;
     }
 
 }

src/main/java/com/naveensundarg/planner/DepthFirstPlanner.java

@@ -6,9 +6,11 @@ import com.naveensundarg.planner.utils.Visualizer;
 import com.naveensundarg.shadow.prover.core.proof.Justification;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
-import com.naveensundarg.shadow.prover.utils.Pair;
 import com.naveensundarg.shadow.prover.utils.Sets;
 
+import org.apache.commons.lang3.tuple.Pair;
+
+
 import java.util.*;
 import java.util.function.Function;
 import java.util.stream.Collectors;
@@ -250,7 +252,7 @@ public class DepthFirstPlanner implements Planner {
                 for (Pair<State, Action> stateActionPair : nextStateActionPairs.get()) {
 
                     Visualizer.push();
-                    Optional<Set<Plan>> planOpt = planInternal(history, currentDepth + 1, maxDepth, background, actions, stateActionPair.first(), goal);
+                    Optional<Set<Plan>> planOpt = planInternal(history, currentDepth + 1, maxDepth, background, actions, stateActionPair.getLeft(), goal);
 
                     Visualizer.pop();
 
@@ -259,8 +261,8 @@ public class DepthFirstPlanner implements Planner {
                         atleastOnePlanFound = true;
                         Set<Plan> nextPlans = planOpt.get();
 
-                        State nextSate = stateActionPair.first();
+                        State nextSate = stateActionPair.getLeft();
-                        Action instantiatedAction = stateActionPair.second();
+                        Action instantiatedAction = stateActionPair.getRight();
 
                         Set<Plan> augmentedPlans = nextPlans.stream().
                                 map(plan -> plan.getPlanByStartingWith(instantiatedAction, nextSate)).

src/main/java/com/naveensundarg/planner/Operations.java

@@ -10,10 +10,10 @@ import com.naveensundarg.shadow.prover.representations.formula.Predicate;
 import com.naveensundarg.shadow.prover.representations.value.Value;
 import com.naveensundarg.shadow.prover.representations.value.Variable;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
-import com.naveensundarg.shadow.prover.utils.ImmutablePair;
-import com.naveensundarg.shadow.prover.utils.Pair;
 
 import com.naveensundarg.shadow.prover.utils.Sets;
+import org.apache.commons.lang3.tuple.Pair;
+import org.apache.commons.lang3.tuple.ImmutablePair;
 import org.apache.commons.lang3.tuple.Triple;
 
 import java.util.List;
@@ -52,7 +52,7 @@ public class Operations {
 
     public static synchronized Optional<Justification> proveCached(Set<Formula> assumptions, Formula goal) {
 
-        Pair<Set<Formula>, Formula> inputPair = ImmutablePair.from(assumptions, goal);
+        Pair<Set<Formula>, Formula> inputPair = ImmutablePair.of(assumptions, goal);
 
         if (proverCache.containsKey(inputPair)) {
 
@@ -62,8 +62,8 @@ public class Operations {
 
         Optional<Map.Entry<Pair<Set<Formula>, Formula>, Optional<Justification>>> cachedOptionalSuccessful = proverCache.entrySet().stream().filter(pairOptionalEntry -> {
 
-            Set<Formula> cachedAssumptions = pairOptionalEntry.getKey().first();
+            Set<Formula> cachedAssumptions = pairOptionalEntry.getKey().getLeft();
-            Formula cachedGoal = pairOptionalEntry.getKey().second();
+            Formula cachedGoal = pairOptionalEntry.getKey().getRight();
 
             return cachedGoal.equals(goal) && Sets.subset(cachedAssumptions, assumptions);
         }).findAny();
@@ -77,8 +77,8 @@ public class Operations {
 
         Optional<Map.Entry<Pair<Set<Formula>, Formula>, Optional<Justification>>> cachedOptionalFailed = proverCache.entrySet().stream().filter(pairOptionalEntry -> {
 
-            Set<Formula> cachedAssumptions = pairOptionalEntry.getKey().first();
+            Set<Formula> cachedAssumptions = pairOptionalEntry.getKey().getLeft();
-            Formula cachedGoal = pairOptionalEntry.getKey().second();
+            Formula cachedGoal = pairOptionalEntry.getKey().getRight();
 
             return cachedGoal.equals(goal) && Sets.subset(assumptions, cachedAssumptions);
         }).findAny();
@@ -249,7 +249,7 @@ public class Operations {
 
             newState = State.initializeWith(newFormulae);
 
-            nexts.add(ImmutablePair.from(newState, action.instantiate(binding)));
+            nexts.add(ImmutablePair.of(newState, action.instantiate(binding)));
 
 
         }
@@ -273,12 +273,12 @@ public class Operations {
 
             newState = State.initializeWith(newFormulae);
 
-            nexts.add(ImmutablePair.from(newState, action.instantiate(emptyBinding)));
+            nexts.add(ImmutablePair.of(newState, action.instantiate(emptyBinding)));
 
 
         }
 
-        nexts = nexts.stream().filter(n-> !n.first().getFormulae().equals(state.getFormulae())).collect(Collectors.toSet());;
+        nexts = nexts.stream().filter(n-> !n.getLeft().getFormulae().equals(state.getFormulae())).collect(Collectors.toSet());;
 
 
 

src/main/java/com/naveensundarg/planner/utils/Runner.java

@@ -44,17 +44,17 @@ public final class Runner {
             return;
         }
         
-        Planner breadthFirstPlanner = new BreadthFirstPlanner();
+        BreadthFirstPlanner breadthFirstPlanner = new BreadthFirstPlanner();
 
         for (PlanningProblem planningProblem : planningProblemList) {
-            Optional<Set<Plan>> optionalPlans = breadthFirstPlanner.plan(
+            Set<Plan> plans = breadthFirstPlanner.plan(
                 planningProblem.getBackground(),
                 planningProblem.getActions(),
                 planningProblem.getStart(),
                 planningProblem.getGoal());
 
-            if(optionalPlans.isPresent()) {
+            if(plans.size() > 0) {
-                System.out.println(optionalPlans.get().toString());
+                System.out.println(plans.toString());
             }
             else {
                 System.out.println("FAILED");