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Removed dead code

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Brandon Rozek 2024-03-29 17:30:45 -04:00
parent 8692700b8f
commit 59b6845107
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GPG key ID: 26E457DA82C9F480
2 changed files with 38 additions and 151 deletions
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176
src/main/java/org/rairlab/planner/Operations.java
View file

@ -33,6 +33,7 @@ public class Operations {
private static boolean DEEP_EQUIVALENCE = false;
private static boolean THROW_AWAY_EMPTY_BINDINGS = true;
private static boolean MONOTONIC = true;
private static Prover prover;
@ -52,40 +53,44 @@ public class Operations {
}
public static synchronized Optional<Justification> proveCached(Set<Formula> assumptions, Formula goal) {
// (1) If we've asked to prove this exact goal from assumptions before
// then return the previous result
Pair<Set<Formula>, Formula> inputPair = ImmutablePair.of(assumptions, goal);
if (proverCache.containsKey(inputPair)) {
return proverCache.get(inputPair);
}
// Iterate through the cache
for (Map.Entry<Pair<Set<Formula>, Formula>, Optional<Justification>> entry : proverCache.entrySet()) {
Set<Formula> cachedAssumptions = entry.getKey().getLeft();
Formula cachedGoal = entry.getKey().getRight();
Optional<Justification> optJust = entry.getValue();
// (2) Return the cached justification if:
// - Goals are the same
// - The cached assumptions are a subset of the current ones
// - A justification was found
if (optJust.isPresent() && cachedGoal.equals(goal) && Sets.subset(cachedAssumptions, assumptions)) {
return optJust;
if (MONOTONIC) {
// (1) If we've asked to prove this exact goal from assumptions before
// then return the previous result
if (proverCache.containsKey(inputPair)) {
return proverCache.get(inputPair);
}
// (3) Return cached failure if:
// - Goals are the same
// - Assumptions are a subset of cached assumptions
// - No justification was found
if (optJust.isEmpty() && cachedGoal.equals(goal) && Sets.subset(assumptions, cachedAssumptions)) {
return optJust;
// Iterate through the cache
for (Map.Entry<Pair<Set<Formula>, Formula>, Optional<Justification>> entry : proverCache.entrySet()) {
Set<Formula> cachedAssumptions = entry.getKey().getLeft();
Formula cachedGoal = entry.getKey().getRight();
Optional<Justification> optJust = entry.getValue();
// (2) Return the cached justification if:
// - Goals are the same
// - The cached assumptions are a subset of the current ones
// - A justification was found
if (optJust.isPresent() && cachedGoal.equals(goal) && Sets.subset(cachedAssumptions, assumptions)) {
return optJust;
}
// (3) Return cached failure if:
// - Goals are the same
// - Assumptions are a subset of cached assumptions
// - No justification was found
if (optJust.isEmpty() && cachedGoal.equals(goal) && Sets.subset(assumptions, cachedAssumptions)) {
return optJust;
}
}
}
}
// Otherwise create a new call to the theorem prover
Optional<Justification> answer = prover.prove(assumptions, goal);
proverCache.put(inputPair, answer);
if (MONOTONIC) {
proverCache.put(inputPair, answer);
}
return answer;
}
@ -176,18 +181,7 @@ public class Operations {
return -1;
}
}
// Take a time value, get the integer number out and
// increment by 1
public static Value incrementTime(Value time) {
int t = getTime(time);
if (t < 0) {
return new Constant("ERROR");
}
return new Constant("t" + (t + 1));
}
public static Optional<Set<Pair<State, Action>>> apply(Set<Formula> background, Action action, State state, Value t) {
public static Optional<Set<Pair<State, Action>>> apply(Set<Formula> background, Action action, State state) {
// // Get resulting states from cache if computed before
if(applyCache.containsKey(Triple.of(background, action, state))){
@ -201,20 +195,12 @@ public class Operations {
// Ask theorem prover for witnesses that satisfy the precondition
Set<Formula> givens = Sets.union(background, state.getFormulae());
// TODO: Have all this ?now and (next ?now) code within Action.java
// Replace ?now with current time within preconditions
Formula precondition = action.getPrecondition();
Value now = new Variable("?now");
precondition = replaceValue(precondition, now, t);
// We already replaced the ?now
List<Variable> openVars = action.openVars()
.stream()
.filter(v -> !v.getName().equals("?now"))
.collect(Collectors.toList());
// TODO: Can likely more intelligently cache considering time...
Optional<Set<Map<Variable, Value>>> bindingsOpt = proveAndGetBindingsCached(givens, precondition, openVars);
// If not witnesses found, return nothing
@ -240,13 +226,6 @@ public class Operations {
Set<Formula> additions = groundedAction.getAdditions();
Set<Formula> deletions = groundedAction.getDeletions();
// Replace (next ?now) with appropriate time
Value nextTime = incrementTime(t);
Value nextTimeVar = new Variable("?next");
additions = replaceValue(additions, nextTimeVar, nextTime);
deletions = replaceValue(deletions, nextTimeVar, nextTime);
State newState = State.initializeWith(Sets.union(
Sets.difference(state.getFormulae(), deletions),
additions
@ -264,97 +243,6 @@ public class Operations {
}
public static State replaceValue(State s, Value r, Value t) {
Set<Formula> newFormulae = replaceValue(s.getFormulae(), r, t);
return State.initializeWith(newFormulae);
}
public static Set<Formula> replaceValue(Set<Formula> s, Value r, Value t) {
Set<Formula> newFormulae = new HashSet<Formula>();
for (Formula f : s) {
newFormulae.add(replaceValue(f, r, t));
}
return newFormulae;
}
public static Value replaceValue(Value v, Value r, Value t) {
if (v.getName().equals(r.getName())) {
return t;
}
return v;
}
// Everywhere where there's a ?now replace with value t
public static Formula replaceValue(Formula f, Value r, Value t) {
// Base Cases:
// Bottom of Formula graph wouldn't have any time points under it
if (f instanceof Predicate || f instanceof Atom) {
return f;
}
// Check if these quantifiers contain our bound varialbe
if (f instanceof UnaryModalFormula) {
UnaryModalFormula uf = (UnaryModalFormula) f;
Value agent = uf.getAgent();
Value time = uf.getTime();
Value newTime = replaceValue(time, r, t);
Formula uf_sub = uf.getFormula();
Formula new_uf_sub = replaceValue(uf_sub, r, t);
if (f instanceof Belief) {
return new Belief(agent, newTime, new_uf_sub);
} else if (f instanceof Intends) {
return new Intends(agent, newTime, new_uf_sub);
} else if (f instanceof Knowledge) {
return new Knowledge(agent, newTime, new_uf_sub);
}
// Assumes Perception
if (! (f instanceof Perception)) {
System.out.println("[fixTimepoints:Operations.java] Doesn't account for new modal operator");
}
return new Perception(agent, newTime, new_uf_sub);
}
// Recusive Case: Iterate over each subformula and replace
if (f instanceof Not) {
Formula subFormula = ((Not) f).getArgument();
return new Not(replaceValue(subFormula, r, t));
} else if (f instanceof Universal) {
Formula subFormula = ((Universal) f).getArgument();
return new Universal(((Universal) f).vars(), replaceValue(subFormula, r, t));
} else if (f instanceof Existential) {
Formula subFormula = ((Existential) f).getArgument();
return new Universal(((Existential) f).vars(), replaceValue(subFormula, r, t));
} else if (f instanceof Implication) {
Formula antecedant = ((Implication) f).getAntecedent();
Formula consequent = ((Implication) f).getConsequent();
return new Implication(replaceValue(antecedant, r, t), replaceValue(consequent, r, t));
} else if (f instanceof BiConditional) {
Formula left = ((BiConditional) f).getLeft();
Formula right = ((BiConditional) f).getRight();
return new BiConditional(replaceValue(left, r, t), replaceValue(right, r, t));
}
List<Formula> subFormulae = f.getArgs();
List<Formula> newArguments = new ArrayList<Formula>();
for (Formula sf : subFormulae) {
newArguments.add(replaceValue(sf, r, t));
}
if (f instanceof And) {
return new And(newArguments);
}
// Assume Or
if (! (f instanceof Or)) {
System.out.println("[fixTimepoints:Operations.java] Not accounting for formula type in recursive case");
}
return new Or(newArguments);
}
public static boolean equivalent(Set<Formula> background, Formula f1, Formula f2) {
if (!DEEP_EQUIVALENCE) {
return f1.equals(f2);

13
src/main/java/org/rairlab/planner/search/AStarPlanner.java
View file

@ -86,11 +86,11 @@ public class AStarPlanner {
State lastState = currentSearch.getLeft();
List<Action> previous_actions = currentSearch.getRight();
System.out.println("--------------------");
System.out.println("Considering state with heuristic: " + comparator.getValue(currentSearch));
System.out.println("Current Plan: " + seq.get(lastState).toString());
System.out.println("Current State: " + lastState.toString());
System.out.println("--------------------");
// System.out.println("--------------------");
// System.out.println("Considering state with heuristic: " + comparator.getValue(currentSearch));
// System.out.println("Current Plan: " + seq.get(lastState).toString());
// System.out.println("Current State: " + lastState.toString());
// System.out.println("--------------------");
// Exit loop if we've passed the depth limit
int currentDepth = previous_actions.size();
@ -116,8 +116,7 @@ public class AStarPlanner {
for (Action action : nonTrivialActions) {
// System.out.println("Considering action: " + action.getName());
Value currentTime = Operations.getTime(previous_actions.size());
Optional<Set<Pair<State, Action>>> optNextStateActionPairs = Operations.apply(background, action, lastState, currentTime);
Optional<Set<Pair<State, Action>>> optNextStateActionPairs = Operations.apply(background, action, lastState);
// Ignore actions that aren't applicable
if (optNextStateActionPairs.isEmpty()) {