changes

learn.lisp

@@ -0,0 +1,4 @@
+
+(defun
+
+    )

snark-20120808r02/snark-interface.lisp

@@ -91,7 +91,7 @@
   (snark:initialize :verbose  verbose)
   (if (not verbose) (snark-deverbose) )
   (temp-sorts)
-  (snark:run-time-limit 0.5)
+  (snark:run-time-limit 5)
   (snark:assert-supported t)
   (snark:assume-supported t)
   (snark:prove-supported t)

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

@@ -23,6 +23,7 @@ public class Action {
     private final Set<Formula> additions;
     private final Set<Formula> deletions;
     private final List<Variable> freeVariables;
+    private final List<Variable> interestedVars;
 
     private final String name;
     private final Formula precondition;
@@ -32,7 +33,7 @@ public class Action {
 
     private final Compound shorthand;
 
-    public Action(String name, Set<Formula> preconditions, Set<Formula> additions, Set<Formula> deletions, List<Variable> freeVariables) {
+    public Action(String name, Set<Formula> preconditions, Set<Formula> additions, Set<Formula> deletions, List<Variable> freeVariables, List<Variable> interestedVars) {
         this.name = name;
         this.preconditions = preconditions;
 
@@ -52,10 +53,11 @@ public class Action {
                 additions.stream().mapToInt(Formula::getWeight).sum() +
                 deletions.stream().mapToInt(Formula::getWeight).sum();
 
-        List<Value> valuesList = freeVariables.stream().collect(Collectors.toList());;
+        List<Value> valuesList = interestedVars.stream().collect(Collectors.toList());;
         this.shorthand = new Compound(name, valuesList);
 
         this.trivial = computeTrivialOrNot();
+        this.interestedVars = interestedVars;
     }
 
     public Action(String name, Set<Formula> preconditions, Set<Formula> additions,
@@ -83,6 +85,7 @@ public class Action {
 
         this.shorthand = shorthand;
         this.trivial = computeTrivialOrNot();
+        this.interestedVars = freeVariables;
 
     }
 
@@ -93,7 +96,17 @@ public class Action {
                                          Set<Formula> deletions,
                                          List<Variable> freeVariables) {
 
-        return new Action(name, preconditions, additions, deletions, freeVariables);
+        return new Action(name, preconditions, additions, deletions, freeVariables, freeVariables);
+
+    }
+
+    public static Action buildActionFrom(String name,
+                                         Set<Formula> preconditions,
+                                         Set<Formula> additions,
+                                         Set<Formula> deletions,
+                                         List<Variable> freeVariables, List<Variable> interestedVars) {
+
+        return new Action(name, preconditions, additions, deletions, freeVariables, interestedVars);
 
     }
 
@@ -148,7 +161,7 @@ public class Action {
             }
         }
 
-        List<Value> valuesList = freeVariables.stream().collect(Collectors.toList());;
+        List<Value> valuesList = interestedVars.stream().collect(Collectors.toList());;
         Compound shorthand = (Compound)(new Compound(name, valuesList)).apply(binding);
         return new Action(name, newPreconditions, newAdditions, newDeletions, newFreeVraibles, shorthand);
     }

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

@@ -20,7 +20,7 @@ public class DepthFirstPlanner implements Planner {
 
 
     private static  int MAX_DEPTH = 5;
-    private static  boolean EXHAUSTIVE_TILL_MAX_DEPTH = true;
+    private static  boolean EXHAUSTIVE_TILL_MAX_DEPTH = false;
 
     private  boolean USE_METHODS, WORK_FROM_SCRATCH;
 

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

@@ -10,6 +10,6 @@ import java.util.Set;
 public class IndefiniteAction extends Action {
 
     private IndefiniteAction(String name, Set<Formula> preconditions, Set<Formula> additions, Set<Formula> deletions, List<Variable> freeVariables) {
-        super(name, preconditions, additions, deletions, freeVariables);
+        super(name, preconditions, additions, deletions, freeVariables, freeVariables);
     }
 }

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

@@ -312,7 +312,10 @@ public class PlanningProblem {
                 Set<Formula> additions = readFrom((List<?>) actionSpec.get(ADDITIONS));
                 Set<Formula> deletions = readFrom((List<?>) actionSpec.get(DELETIONS));
 
-                return Action.buildActionFrom(name, preconditions, additions, deletions, vars);
+                List<Variable> interestedVars = CollectionUtils.newEmptyList();
+                interestedVars.addAll(vars);
+                vars.addAll(preconditions.stream().map(Formula::variablesPresent).reduce(Sets.newSet(), Sets::union));
+                return Action.buildActionFrom(name, preconditions, additions, deletions, vars, interestedVars);
 
 
             } catch (Reader.ParsingException e) {

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

@@ -1,6 +1,8 @@
 package com.naveensundarg.planner.utils;
 
+import com.naveensundarg.planner.DepthFirstPlanner;
 import com.naveensundarg.planner.PlanMethod;
+import com.naveensundarg.planner.Planner;
 
 import java.util.List;
 
@@ -9,9 +11,9 @@ import java.util.List;
  */
 public class Sandbox {
 
-    public static void main(String[] args) throws com.naveensundarg.shadow.prover.utils.Reader.ParsingException {
+    public static void demoPlanMethods(String[] args) throws com.naveensundarg.shadow.prover.utils.Reader.ParsingException {
 
-        PlanMethod seriatedPlanMethod = (Reader.readPlanMethodsFrom(Sandbox.class.getResourceAsStream("../problems/seriated/methods.clj"))).get(0);
+        PlanMethod seriatedPlanMethod = (Reader.readPlanMethodsFrom(Sandbox.class.getResourceAsStream("../problems/learning/dry.clj"))).get(0);
 
 
         List<GoalTrackingProblem> goalTrackingProblemList1 = (GoalTrackingProblem.readFromFile(Sandbox.class.getResourceAsStream("../problems/seriated/seriated_challenge_1.clj")));
@@ -36,5 +38,22 @@ public class Sandbox {
 
 
 
+    }
+
+    public static void main(String[] args) throws com.naveensundarg.shadow.prover.utils.Reader.ParsingException {
+
+        List<PlanningProblem> planningProblemList = (PlanningProblem.readFromFile(Sandbox.class.getResourceAsStream("../problems/learning/reasoning_5.clj")));
+
+        Planner depthFirstPlanner = new DepthFirstPlanner();
+
+        PlanningProblem planningProblem = planningProblemList.stream().filter(problem -> problem.getName().equals("learning")).findFirst().get();
+
+
+        depthFirstPlanner.plan(planningProblem.getBackground(), planningProblem.getActions(), planningProblem.getStart(), planningProblem.getGoal()).ifPresent(
+                System.out::println
+        );
+
+
+
     }
 }

src/main/resources/com/naveensundarg/planner/completeness_problems.clj

@@ -146,21 +146,21 @@
  :start          []
  :goal           [(Declaration god-exists)]
  :actions
- [(define-action declare-P [?p]
+                 [(define-action declare-P [?p]
-    {:preconditions [(Belief ?p)]
+                                 {:preconditions [(Belief ?p)]
-     :additions     [(Declaration ?p)]
+                                  :additions     [(Declaration ?p)]
-     :deletions     [(Private ?p)]})
+                                  :deletions     [(Private ?p)]})
 
-  (define-action believe-with-support [?p]
+                  (define-action believe-with-support [?p]
-    {:preconditions [(Proposition ?p)
+                                 {:preconditions [(Proposition ?p)
-                     (HasSupport ?p)]
+                                                  (HasSupport ?p)]
-     :additions     [(Belief ?p)]
+                                  :additions     [(Belief ?p)]
-     :deletions     []})
+                                  :deletions     []})
 
-  (define-action believe-without-support [?p]
+                  (define-action believe-without-support [?p]
-    {:preconditions [(Proposition ?p)]
+                                 {:preconditions [(Proposition ?p)]
-     :additions     [(Belief ?p)]
+                                  :additions     [(Belief ?p)]
-     :deletions     []})]
+                                  :deletions     []})]
 
  :expected-plans ([believe-P declare-P])}
 
@@ -200,24 +200,24 @@
 
 {:name           "reasoning 3"
  :background     []
- :start          [(! A) (!  B)
+ :start          [(! A) (! B)
                   (Prop S)
                   (! (if (and A B) C))
                   ]
- :goal           [(! (if S C) )]
+ :goal           [(! (if S C))]
 
  :actions        [(define-action and-intro [?p ?q]
-                    {:preconditions [(! ?p) (!  ?q)]
+                                 {:preconditions [(! ?p) (! ?q)]
-                     :additions     [(! (and ?p ?q))]
+                                  :additions     [(! (and ?p ?q))]
-                     :deletions     []})
+                                  :deletions     []})
                   (define-action cond-elim [?p ?q]
-                    {:preconditions [(! (if ?p ?q)) (! ?p)]
+                                 {:preconditions [(! (if ?p ?q)) (! ?p)]
-                     :additions     [(! ?q)]
+                                  :additions     [(! ?q)]
-                     :deletions     []})
+                                  :deletions     []})
 
                   (define-action cond-intro [?p ?q]
-                    {:preconditions [ (Prop ?p) (! ?q)]
+                                 {:preconditions [(Prop ?p) (! ?q)]
-                     :additions     [(! (if ?p ?q))]
+                                  :additions     [(! (if ?p ?q))]
-                     :deletions     []})]
+                                  :deletions     []})]
 
  :expected-plans ([and-intro])}

src/main/resources/com/naveensundarg/planner/problems/learning/dry.clj

@@ -0,0 +1,37 @@
+{:name       "learning"
+ :background [(iff dry (not wet))
+              (iff umbrella (not coat))
+
+
+              (if was-outside (if (and rain (not umbrella)) wet))
+              (if was-outside (if (and snow (not coat)) wet))]
+ :start      [ rain
+               (at a)
+               (available b)
+               ]
+
+ :actions    [(define-action walkFromTo [?start ?end]
+                {:preconditions [(at ?start)
+                                 (available ?end)
+                                ]
+                 :additions     [(at ?end)
+                                 was-outside]
+                 :deletions     [(at ?start)]})
+
+              (define-action useUmbrella []
+                {:preconditions [rain]
+                 :additions     [umbrella]
+                 :deletions     [(not umbrella)]})
+
+
+              (define-action useCoat []
+                {:preconditions [snow]
+                 :additions     [coat]
+                 :deletions     [(not coat)]})
+
+              ]
+
+
+ :goal [(at b)
+        dry]
+ }

src/main/resources/com/naveensundarg/planner/problems/learning/reasoning_1.clj

@@ -0,0 +1,21 @@
+{:name       "learning"
+ :background []
+ :start      [(holds c1 a null)]
+
+ :actions    [(define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 ?u null)
+                                 (holds ?c2 (not ?u) ?w)]
+                 :additions     [(holds (comb ?c1 ?c2) null ?w)]
+                 :deletions     []})
+
+
+              (define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 null ?u )
+                                 (holds ?c2 ?w (not ?u) )]
+                 :additions     [(holds (comb ?c1 ?c2)  ?w null)]
+                 :deletions     []})
+              ]
+
+
+ :goal [(holds ?id null null)]
+ }

src/main/resources/com/naveensundarg/planner/problems/learning/reasoning_2.clj

@@ -0,0 +1,25 @@
+{:name       "learning"
+ :background []
+
+
+
+ :start      [(holds c1 a null)
+              (holds c2 (not a) null)]
+
+ :actions    [(define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 ?u null)
+                                 (holds ?c2 (not ?u) ?w)]
+                 :additions     [(holds (comb ?c1 ?c2) null ?w)]
+                 :deletions     []})
+
+
+              (define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 null ?u )
+                                 (holds ?c2 ?w (not ?u) )]
+                 :additions     [(holds (comb ?c1 ?c2)  ?w null)]
+                 :deletions     []})
+              ]
+
+
+ :goal [(holds ?id null null)]
+ }

src/main/resources/com/naveensundarg/planner/problems/learning/reasoning_3.clj

@@ -0,0 +1,25 @@
+{:name       "learning"
+ :background []
+ :start      [(holds c1 a null)
+              (holds c2 (not a) b)
+              (holds c3 c (not b))
+              (holds c3 (not c) null)
+              ]
+
+ :actions    [(define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 ?u null)
+                                 (holds ?c2 (not ?u) ?w)]
+                 :additions     [(holds (comb ?c1 ?c2) null ?w)]
+                 :deletions     []})
+
+
+              (define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 null ?u )
+                                 (holds ?c2 ?w (not ?u) )]
+                 :additions     [(holds (comb ?c1 ?c2)  ?w null)]
+                 :deletions     []})
+              ]
+
+
+ :goal [(holds ?id null null)]
+ }

src/main/resources/com/naveensundarg/planner/problems/learning/reasoning_4.clj

@@ -0,0 +1,25 @@
+{:name       "learning"
+ :background []
+ :start      [(holds c1 a null)
+              (holds c2 (not a) b)
+              (holds c3 c (not b))
+              (holds c3 (not c) null)
+              ]
+
+ :actions    [(define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 ?u null)
+                                 (holds ?c2 (not ?u) ?w)]
+                 :additions     [(holds (comb ?c1 ?c2) null ?w)]
+                 :deletions     []})
+
+
+              (define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 null ?u )
+                                 (holds ?c2 ?w (not ?u) )]
+                 :additions     [(holds (comb ?c1 ?c2)  ?w null)]
+                 :deletions     []})
+              ]
+
+
+ :goal [(holds ?id null null)]
+ }

src/main/resources/com/naveensundarg/planner/problems/learning/reasoning_5.clj

@@ -0,0 +1,35 @@
+
+
+
+{:name       "learning"
+ :background []
+
+
+ :start      [(holds c1 a null)
+              (holds c2 (not a) b)
+              (holds c3 c (not b))
+              (holds c3 (not c) d )
+              (holds c4 null (not d))]
+
+
+
+ :actions    [(define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 ?u null)
+                                 (holds ?c2 (not ?u) ?w)]
+                 :additions     [(holds (comb ?c1 ?c2) null ?w)]
+                 :deletions     []})
+
+
+              (define-action resolve [?c1 ?c2]
+                {:preconditions [(holds ?c1 null ?u )
+                                 (holds ?c2 ?w (not ?u) )]
+                 :additions     [(holds (comb ?c1 ?c2)  ?w null)]
+                 :deletions     []})
+              ]
+
+
+ :goal [(holds ?id null null)]
+ }
+
+
+

src/main/resources/com/naveensundarg/planner/problems/learning/reasoningdiff.clj

@@ -0,0 +1,25 @@
+{:name       "learning"
+ :background []
+ :start      [(= c1 (clause a null))
+              (= c2 (clause (not a) b))
+              (= c3 (clause c (not b)))
+              (= c3 (clause (not c) null))
+              ]
+
+ :actions    [(define-action resolve1a [?c1 ?c2 ?u ?w]
+                {:preconditions [(= ?c1 (clause ?u null))
+                                 (= ?c2 (clause (not ?u) ?w))]
+                 :additions     [(= (comb ?c1 ?c2) (clause null ?w))]
+                 :deletions     []})
+
+
+              (define-action resolve1b [?c1 ?c2 ?u ?w]
+                {:preconditions [(= ?c1 (clause null ?u) )
+                                 (= ?c2 (clause ?w (not ?u)) )]
+                 :additions     [(= (comb ?c1 ?c2)  (clause ?w null))]
+                 :deletions     []})
+              ]
+
+
+ :goal [(= ?id (clause null null))]
+ }

src/main/resources/com/naveensundarg/planner/problems/learning/restaurant.clj

@@ -0,0 +1,24 @@
+
+
+{:name       "toy restaurant example"
+ :background [ ]
+ :start      [(Believes I (Believes other (= ?something  (phone R))))]
+
+ :actions    [(define-action call [?entity]
+                 {:preconditions [(Believes I (= ?num  (phone ?entity)))]
+                  :additions     [(called ?entity)]
+                  :deletions     [(not (called ?entity))]})
+
+              (define-action query [?value]
+                {:preconditions [(Believes I (Believes ?other (= ?something ?value)))]
+                 :additions     [(Believes I (= ?something ?value))]
+                 :deletions     [(not (Believes I (= ?something ?value)))]})]
+
+
+ :goal [(called ?establishment)]}
+
+
+
+
+
+