mirror of
https://github.com/RAIRLab/Spectra.git
synced 2024-11-21 16:36:29 -05:00
Solving a seriated cup challenge.
This commit is contained in:
Naveen Sundar Govindarajulu
parent
cdb9c455c8
commit
381bbc60af
10 changed files with 305 additions and 97 deletions
0
snark-20120808r02/commons.lisp
Normal file
0
snark-20120808r02/commons.lisp
Normal file
|
|
@ -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))
|
||||
|
|
|
|||
|
|
@ -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() {
|
||||
|
|
|
|||
|
|
@ -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
14
src/main/java/edu/rpi/rair/utils/ProceduralAttachment.java
Normal file
|
|
@ -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);
|
||||
}
|
||||
|
|
@ -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();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,15 +1,20 @@
|
|||
{:definitions
|
||||
{:name "demo 1"
|
||||
|
||||
|
||||
:background [(forall [?x ?room1 ?room2]
|
||||
(if (not (= ?room1 ?room2))
|
||||
(if (in ?x ?room1) (not (in ?x ?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)]
|
||||
|
||||
|
||||
|
||||
:start [(in self room1)
|
||||
(in commander room2)
|
||||
(in prisoner room1)
|
||||
|
|
@ -49,11 +54,12 @@
|
|||
|
||||
:deletions [(in ?person ?room2)]})
|
||||
|
||||
(define-action get-interrogated [?room]
|
||||
(define-action interrogate [?p ?room]
|
||||
{:preconditions [(in commander ?room)
|
||||
(in prisoner ?room)]
|
||||
(in ?p ?room)
|
||||
(imprisoned ?p)]
|
||||
|
||||
:additions [(interrogates commander prisoner)]
|
||||
:additions [(interrogates commander ?p)]
|
||||
|
||||
:deletions []})
|
||||
|
||||
|
|
@ -64,22 +70,22 @@
|
|||
|
||||
:deletions []})
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
:goals {G1 {:priority 1.0
|
||||
:goals {G1 {:priority 10.0
|
||||
:state [(not (open (door room1)))]}
|
||||
|
||||
G2 {:priority 1.0
|
||||
G2 {:priority 10.0
|
||||
:state [(in prisoner room1)]}
|
||||
|
||||
G3 {:priority 1.0
|
||||
G3 {:priority 10.0
|
||||
:state [(forall [?room]
|
||||
(if (in prisoner ?room)
|
||||
(in self ?room)))]}
|
||||
G4 {:priority 1.0
|
||||
G4 {:priority 3.0
|
||||
:state [(in prisoner room2)
|
||||
(in self room2)]}
|
||||
G5 {:priority 3.0
|
||||
G5 {:priority 1.0
|
||||
|
||||
:state [(interrogates commander prisoner)]}}
|
||||
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
|
|
|
|||
60
src/main/resources/edu/rpi/rair/seriated_challenge_1.clj
Normal file
60
src/main/resources/edu/rpi/rair/seriated_challenge_1.clj
Normal file
|
|
@ -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)]}}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -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"));
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
Loading…
Reference in a new issue