Solving a seriated cup challenge.

This commit is contained in:
Naveen Sundar Govindarajulu 2017-06-10 22:44:47 -07:00
parent cdb9c455c8
commit 381bbc60af
10 changed files with 305 additions and 97 deletions

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@ -16,6 +16,62 @@
(snark:print-rows-prettily nil)
(snark:print-rows :min 0 :max 0))
(defun temp-sorts ()
(snark:declare-sort 'Room)
(snark:declare-sort 'Door)
(snark:declare-sort 'Agent)
(snark:declare-sort 'Name)
(snark:declare-subsort 'Robot 'Agent :subsorts-incompatible t)
(snark:declare-subsort 'Person 'Agent :subsorts-incompatible t)
(snark:declare-subsort 'Commander 'Person :subsorts-incompatible t)
(snark:declare-subsort 'Prisoner 'Person :subsorts-incompatible t)
(snark:declare-constant 'guard :sort 'Robot)
(snark:declare-constant 'guide :sort 'Robot)
(snark:declare-constant 'commander :sort 'Commander)
(snark:declare-constant 'prisoner :sort 'Prisoner)
(snark:declare-constant 'room1 :sort 'Room)
(snark:declare-constant 'room2 :sort 'Room)
(snark:declare-constant 'hallway :sort 'Room)
(snark:declare-constant 'accompany :sort 'Name)
(snark:declare-function 'door 1 :sort '(Door Room))
(snark:declare-relation 'robot 1 :sort '(Robot))
(snark:declare-relation 'room 1 :sort '(Room))
(snark:declare-relation 'person 1 :sort '(Person))
(snark:declare-relation 'commander 1 :sort '(Commander))
(snark:declare-relation 'prisoner 1 :sort '(Prisoner))
(snark:declare-relation 'in 2 :sort '(Agent Room))
(snark:declare-relation 'sameroom 2 :sort '(Agent Agent))
(snark:declare-relation 'interrogate 2 :sort '(Agent Agent))
(snark:declare-relation 'can 4 :sort '(Name Agent Agent Agent))
(snark:declare-relation 'accompanies 2 :sort '(Agent Agent))
(snark:declare-relation 'open 1 :sort '(Door))
(snark:declare-variable '?room :sort 'Room)
(snark:declare-variable '?room1 :sort 'Room)
(snark:declare-variable '?room2 :sort 'Room)
(snark:declare-variable '?person :sort 'Person)
(snark:declare-variable '?person1 :sort 'Person)
(snark:declare-variable '?person2 :sort 'Person)
(snark:declare-variable '?actor :sort 'Agent)
)
(defun snark-deverbose ()
(snark:print-options-when-starting nil)
(snark:print-agenda-when-finished nil)
@ -34,11 +90,12 @@
(defun setup-snark (&key (time-limit 5) (verbose nil))
(snark:initialize :verbose verbose)
(if (not verbose) (snark-deverbose) )
(snark:run-time-limit time-limit)
(temp-sorts)
(snark:run-time-limit 0.05)
(snark:assert-supported t)
(snark:assume-supported t)
(snark:prove-supported t)
(snark:use-hyperresolution t)
(snark:use-resolution t)
(snark:use-paramodulation t)
(snark:allow-skolem-symbols-in-answers t))

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@ -13,7 +13,7 @@ import java.util.stream.Collectors;
public class DepthFirstPlanner implements Planner {
private static int MAX_DEPTH = 5;
private static int MAX_DEPTH = 4;
private static boolean EXHAUSTIVE_TILL_MAX_DEPTH = false;
public static int getMaxDepth() {

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@ -3,8 +3,10 @@ package edu.rpi.rair;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.shadow.prover.core.SnarkWrapper;
import com.naveensundarg.shadow.prover.core.proof.Justification;
import com.naveensundarg.shadow.prover.core.proof.TrivialJustification;
import com.naveensundarg.shadow.prover.representations.formula.BiConditional;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
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;
@ -58,7 +60,7 @@ public class Operations {
}
Optional<Map.Entry<Pair<Set<Formula>, Formula>, Optional<Justification>>> cachedOptional = proverCache.entrySet().stream().filter(pairOptionalEntry -> {
Optional<Map.Entry<Pair<Set<Formula>, Formula>, Optional<Justification>>> cachedOptionalSuccessful = proverCache.entrySet().stream().filter(pairOptionalEntry -> {
Set<Formula> cachedAssumptions = pairOptionalEntry.getKey().first();
Formula cachedGoal = pairOptionalEntry.getKey().second();
@ -67,9 +69,53 @@ public class Operations {
}).findAny();
if(cachedOptional.isPresent() && cachedOptional.get().getValue().isPresent()){
if(cachedOptionalSuccessful.isPresent() && cachedOptionalSuccessful.get().getValue().isPresent()){
return cachedOptionalSuccessful.get().getValue();
}
Optional<Map.Entry<Pair<Set<Formula>, Formula>, Optional<Justification>>> cachedOptionalFailed = proverCache.entrySet().stream().filter(pairOptionalEntry -> {
Set<Formula> cachedAssumptions = pairOptionalEntry.getKey().first();
Formula cachedGoal = pairOptionalEntry.getKey().second();
return cachedGoal.equals(goal) && Sets.subset(assumptions, cachedAssumptions);
}).findAny();
if(cachedOptionalFailed.isPresent() && !cachedOptionalFailed.get().getValue().isPresent()){
return cachedOptionalFailed.get().getValue();
}
if(goal instanceof Predicate && ((Predicate) goal).getName().equals("sameroom")){
Predicate p = (Predicate) goal;
Value v1 = p.getArguments()[0];
Value v2 = p.getArguments()[1];
Optional<Formula> inOptv1 = assumptions.stream().filter(x-> x instanceof Predicate &&
((Predicate)x).getName().equals("in") && ((Predicate) x).getArguments()[0].equals(v1)).findAny();
Optional<Formula> inOptv2 = assumptions.stream().filter(x-> x instanceof Predicate &&
((Predicate)x).getName().equals("in") && ((Predicate) x).getArguments()[0].equals(v2)).findAny();
if(inOptv1.isPresent() && inOptv2.isPresent()){
Value room1 = ((Predicate)inOptv1.get()).getArguments()[1];
Value room2 = ((Predicate)inOptv2.get()).getArguments()[1];
if(room1.equals(room2)){
return Optional.of(Justification.trivial(goal));
}
}
return cachedOptional.get().getValue();
}
{
@ -178,7 +224,7 @@ public class Operations {
Set<Formula> formulaeToRemove = state.getFormulae().stream().
filter(f -> instantiatedDeletions.stream().anyMatch(d -> equivalent(background, f, d))).collect(Collectors.toSet());
Set<Formula> newFormulae = state.getFormulae();
Set<Formula> newFormulae = Sets.union(background, state.getFormulae());
newFormulae = Sets.union(newFormulae, action.instantiateAdditions(binding));

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@ -0,0 +1,14 @@
package edu.rpi.rair.utils;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import java.util.Optional;
import java.util.Set;
/**
* Created by naveensundarg on 1/26/17.
*/
public interface ProceduralAttachment {
Optional<Boolean> satisfies(Set<Formula> base, Formula goal);
}

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@ -1,6 +1,7 @@
package edu.rpi.rair.utils;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.google.common.collect.Sets;
import com.naveensundarg.shadow.prover.Sandbox;
import com.naveensundarg.shadow.prover.core.Problem;
import com.naveensundarg.shadow.prover.core.Prover;
@ -15,6 +16,7 @@ import edu.rpi.rair.utils.GoalTrackingProblem;
import java.util.List;
import java.util.Optional;
import java.util.Set;
import java.util.stream.Collectors;
/**
@ -32,13 +34,13 @@ public class RunDemo {
List<Problem> problems = ProblemReader.readFrom(Sandbox.class.getResourceAsStream("firstorder-completness-tests.clj"));
problems.forEach(problem -> {
for (int i = 0; i < 10; i++) {
for (int i = 0; i < 30; i++) {
prover.prove(problem.getAssumptions(), problem.getGoal());
}
});
// planningProblemWarmUp();
planningProblemWarmUp();
System.out.println("\nWARM UP DONE");
} catch (Reader.ParsingException e) {
e.printStackTrace();
@ -53,7 +55,7 @@ public class RunDemo {
System.out.println();
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_6.clj")));
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("seriated_challenge_1.clj")));
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
@ -65,21 +67,30 @@ public class RunDemo {
long start = System.currentTimeMillis();
Goal g1 = goalTrackingProblem.getGoalNamed("G1");
/*
Goal g2 = goalTrackingProblem.getGoalNamed("G2");
Goal g3 = goalTrackingProblem.getGoalNamed("G3");
Goal g4 = goalTrackingProblem.getGoalNamed("G4");
Goal g5 = goalTrackingProblem.getGoalNamed("G5");
*/
tryAndAddGoal(g1, goalTracker);
/* tryAndAddGoal(g2, goalTracker);
tryAndAddGoal(g2, goalTracker);
// tryAndAddGoal(g2b, goalTracker);
tryAndAddGoal(g3, goalTracker);
tryAndAddGoal(g4, goalTracker);
tryAndAddGoal(g5, goalTracker);
*/
long end = System.currentTimeMillis();
@ -99,7 +110,7 @@ public class RunDemo {
public static void planningProblemWarmUp() throws Reader.ParsingException {
for (int i = 0; i < 10; i++) {
for (int i = 0; i < 0; i++) {
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_1.clj")));
@ -146,11 +157,19 @@ public class RunDemo {
System.out.println("========================");
printInfo("Trying to Add Goal:", g.getName());
Set<String> oldGoals = goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet());
Optional<Plan> possibleGoalPlan = goalTracker.adoptGoal(g);
if (possibleGoalPlan.isPresent()) {
printSuccess("Successfully added:", g.getName());
printDebug1("Current Goals:", goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
Set<String> newGoals = goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet());
if(!Sets.difference(oldGoals, newGoals).isEmpty()){
printDropped("Dropped Goals:" + Sets.difference(oldGoals, newGoals));
}
Plan plan = possibleGoalPlan.get();
printDebug2("Plan:", plan.getActions().isEmpty() ? "No plan needed. Already satisfied." : plan.getActions().toString());
@ -225,4 +244,17 @@ public class RunDemo {
cp.println("");
cp.clear();
}
static void printDropped(String message) {
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.RED); //setting format
cp.print("Dropped Goals:");
cp.clear();
cp.print(" ");
cp.setAttribute(Ansi.Attribute.BOLD);
cp.print(message);
cp.println("");
cp.clear();
}
}

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@ -1,86 +1,92 @@
{:definitions
{:name "demo 1"
:background [(forall [?x ?room1 ?room2]
(if (not (= ?room1 ?room2))
(if (in ?x ?room1) (not (in ?x ?room2))) ))
(not (= room1 room2))
(not (= prisoner commander))
(not (= self prisoner))
(not (= self commander))
(person prisoner)
(person commander)]
{:name "demo 1"
:start [(in self room1)
(in commander room2)
(in prisoner room1)
(open (door room2))
(not (open (door room1)))]
:goal []
:actions
[(define-action open-door [?room]
{:preconditions [(not (open (door ?room)))]
:additions [(open (door ?room))]
:deletions [(not (open (door ?room)))]})
:background [(forall [?x ?room1 ?room2]
(if (not (= ?room1 ?room2))
(if (in ?x ?room1) (not (in ?x ?room2)))))
(not (= room1 room2))
(not (= prisoner commander))
(not (= self prisoner))
(not (= self commander))
(person prisoner)
(imprisoned prisoner)
(person commander)]
(define-action accompany [?person ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room1)
(in self ?room1)
(open (door ?room1))
(open (door ?room2))]
:start [(in self room1)
(in commander room2)
(in prisoner room1)
(open (door room2))
(not (open (door room1)))]
:additions [(in ?person ?room2)
(in self ?room2)]
:goal []
:deletions [(in ?person ?room1)
(in self ?room1)]})
:actions
[(define-action open-door [?room]
{:preconditions [(not (open (door ?room)))]
:additions [(open (door ?room))]
:deletions [(not (open (door ?room)))]})
(define-action move [?person ?room2 ?room1]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room2)
(open (door ?room1))
(open (door ?room2))]
:additions [(in ?person ?room1)]
:deletions [(in ?person ?room2)]})
(define-action accompany [?person ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room1)
(in self ?room1)
(open (door ?room1))
(open (door ?room2))]
(define-action get-interrogated [?room]
{:preconditions [(in commander ?room)
(in prisoner ?room)]
:additions [(in ?person ?room2)
(in self ?room2)]
:additions [(interrogates commander prisoner)]
:deletions [(in ?person ?room1)
(in self ?room1)]})
:deletions []})
(define-action move [?person ?room2 ?room1]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room2)
(open (door ?room1))
(open (door ?room2))]
(define-action stay-put [?x ?y]
{:preconditions [(sameroom ?x ?y)]
:additions [(in ?person ?room1)]
:additions [(sameroom ?x ?y)]
:deletions [(in ?person ?room2)]})
:deletions []})
]
}
(define-action interrogate [?p ?room]
{:preconditions [(in commander ?room)
(in ?p ?room)
(imprisoned ?p)]
:goals {G1 {:priority 1.0
:state [(not (open (door room1)))]}
:additions [(interrogates commander ?p)]
G2 {:priority 1.0
:state [(in prisoner room1)]}
:deletions []})
G3 {:priority 1.0
:state [(forall [?room]
(if (in prisoner ?room)
(in self ?room)))]}
G4 {:priority 1.0
:state [(in prisoner room2)
(in self room2)]}
G5 {:priority 3.0
(define-action stay-put [?x ?y]
{:preconditions [(sameroom ?x ?y)]
:state [(interrogates commander prisoner)]}}
:additions [(sameroom ?x ?y)]
:deletions []})
]
}
:goals {G1 {:priority 10.0
:state [(not (open (door room1)))]}
G2 {:priority 10.0
:state [(in prisoner room1)]}
G3 {:priority 10.0
:state [(forall [?room]
(if (in prisoner ?room)
(in self ?room)))]}
G4 {:priority 3.0
:state [(in prisoner room2)
(in self room2)]}
G5 {:priority 1.0
:state [(interrogates commander prisoner)]}}
}

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@ -32,30 +32,10 @@
(open (door room2))
(open (door hallway))
(forall (?robot ?prisoner ?commander)
(implies (and (and (robot ?robot) (prisoner ?prisoner)) (commander ?commander))
(can accompany ?robot ?prisoner ?commander)))
(forall (?commander ?prisoner ?person)
(implies (and (and (commander ?commander) (prisoner ?prisoner)) (person ?person))
(can accompany ?commander ?prisoner ?person)))
(forall (?robot ?commander ?person)
(implies (and (and (and (robot ?robot) (commander ?commander)) (person ?person))
(needs ?commander (interrogate ?person)))
(can accompany ?robot ?commander ?person)))
(forall (?room ?x ?y)
(implies (and (in ?x ?room) (and (in ?y ?room) (not (= ?x ?y))))
(sameroom ?x ?y)))
(forall (?room2 ?x ?room1)
(implies (and (not (= ?room1 ?room2)) (in ?x ?room1))
(not (in ?x ?room2))))
(forall (?room ?x ?y)
(implies (and (sameroom ?x ?y) (in ?x ?room))
(in ?y ?room)))
(needs commander (interrogate prisoner))
@ -91,7 +71,7 @@
{:preconditions [(robot ?actor)
(person ?person1)
(person ?person2)
(can accompany ?actor ?person1 ?person2)
; (can accompany ?actor ?person1 ?person2)
(room ?room1)
(room ?room2)
(in ?actor ?room1)
@ -114,7 +94,7 @@
{:preconditions [(robot ?actor)
(person ?person1)
(person ?person2)
(can accompany ?actor ?person1 ?person2)
; (can accompany ?actor ?person1 ?person2)
(room ?room)
(in ?actor ?room)
(in ?person1 ?room)

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@ -0,0 +1,60 @@
{:definitions
{:name "Seriated Cup Challenge 1"
:background [ ;; Transitivity of <
(forall [?x ?y ?z]
(if (and (< (size ?x) (size ?y))
(< (size ?y) (size ?z)))
(< (size ?x) (size ?z))))
;; Asymmetry of <
(forall [?x ?y]
(iff (< (size ?x) (size ?y))
(not (< (size ?y) (size ?x)))))
;; If there is something inside a cup, it is not empty.
(forall [?y]
(if (exists [?x] (In ?x ?y))
(not (Empty ?y))))
;;; Sizes of cups
(< (size a) (size b))
(< (size b) (size c))
(< (size c) (size d))
(< (size d) (size e))]
:start [(In a b)
(In b d)
(In d e)
(Empty c)]
:goal []
:actions [(define-action placeInside [?x ?y]
{:preconditions [(< (size ?x) (size ?y))
(Empty ?y)]
:additions [(In ?x ?y)]
:deletions [(Empty ?y)]})
(define-action removeFrom [?x ?y]
{:preconditions [(In ?x ?y)]
:additions [(Empty ?y)]
:deletions [(In ?x ?y)]} )]
}
:goals {G1 {:priority 1.0
:state [(In a b)
(In b c)
(In c d)
(In d e)]}}
}

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@ -50,6 +50,19 @@ public class GoalTrackerTest {
goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G3"));
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
cp.println("Adding goal G3");
cp.clear();
goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G4"));
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
cp.println("Adding goal G3");
cp.clear();
goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G4"));
}
}