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Solving a seriated cup challenge.

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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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2
src/main/java/edu/rpi/rair/DepthFirstPlanner.java
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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() {

54
src/main/java/edu/rpi/rair/Operations.java
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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));

14
src/main/java/edu/rpi/rair/utils/ProceduralAttachment.java Normal file
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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);
}

42
src/main/java/edu/rpi/rair/utils/RunDemo.java
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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();
}
}