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Removed unused domain, commented out debug code

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Brandon Rozek 2024-03-29 17:37:41 -04:00
parent f44c75e3a6
commit aec7d98c13
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GPG key ID: 26E457DA82C9F480
3 changed files with 3 additions and 192 deletions
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6
src/main/java/org/rairlab/planner/search/AStarPlanner.java
View file

@ -69,8 +69,8 @@ public class AStarPlanner {
search.add(searchStart); search.add(searchStart);
// For debugging... // For debugging...
Map<State, List<Action>> seq = new HashMap<State, List<Action>>(); // Map<State, List<Action>> seq = new HashMap<State, List<Action>>();
seq.put(start, new ArrayList<Action>()); // seq.put(start, new ArrayList<Action>());
// Current set of plans // Current set of plans
Set<Plan> plansFound = new HashSet<Plan>(); Set<Plan> plansFound = new HashSet<Plan>();
@ -150,7 +150,7 @@ public class AStarPlanner {
search.add(futureSearch); search.add(futureSearch);
// For debugging... // For debugging...
seq.put(nextState, next_actions); // seq.put(nextState, next_actions);
} }
} }

108
src/main/resources/org/rairlab/planner/problems/conformant/block_tiny.clj
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@ -1,108 +0,0 @@
; Original problem from Joerg Hoffmann and Ronen Brafman
{:name "Block-Conformant-Tiny"
:background [
; Setting object types
(block b1)
(block b2)
; Unique name axioms
(not (= b1 b2))
; Block World Axioms
; Blocks are never on themselves
(forall [x] (not (on x x)))
; on is not symmetric
(forall [x y] (if (on x y) (not (on y x))))
; Any block on a table isn't on top of another block
(forall [x y] (if (on-table x) (not (on x y))))
; Any block that is cleared does not have another block on top of it
(forall [x y] (if (clear x) (not (on y x))))
; NOTE: Slow if we use complicated definitions
;; ; A block is on the table if it isn't on top of any other block
;; (forall [x] (iff (on-table x) (forall [y] (not (on x y)))))
;; ; A block is cleared if there is no other block on top of it
;; (forall [x] (iff (clear x) (forall [y] (not (on y x)))))
]
:actions [
(define-action move-bstack-to-t [?b ?b1] {
:preconditions [
; Type restriction
(block ?b)
(block ?b1)
; Arguments unique
(not (= ?b ?b1))
; Preconditions
;; (not (on-table ?b))
]
; TODO: Think hard about the effect
;; :effect (and (when (on ?b ?bl)
;; (and (not (on ?b ?bl)) (on-table ?b) (clear ?bl)))))
:additions [
; The following creates a contradiction because
; (on-table ?b) -> (not (on ?b ?b1)) and
; we can't have P -> \neg P
;; (if (on ?b ?b1) (and (on-table ?b) (clear ?b1)))
]
:deletions [ ]
})
(define-action move-t-to-b [?bm ?bt ?t] {
:preconditions [
; Type restrictions
(block ?bm)
(block ?bt)
; Arguments unique
(not (= ?bm ?bt))
; Primary preconditions
(clear ?bm ?t)
(clear ?bt ?t)
(on-table ?bm ?t)
]
:additions [
(on ?bm ?bt (s ?t))
(not (clear ?bt (s ?t)))
(not (on-table ?bm (s ?t)))
]
:deletions [
;; (not (on ?bm ?bt))
;; (clear ?bt)
;; (on-table ?bm)
]
})
]
:start [
; Unknown facts don't need to be stated
; since we don't assume closed world assumption.
; Negated predicates in this example is handled by
; the block world axioms
(or
(and
(on b2 b1 t0)
(clear b2 t0)
(on-table b1 t0)
)
(and
(on b1 b2 t0)
(clear b1 t0)
(on-table b2 t0)
)
)
]
:goal [
(exists [x] (on b2 b1 x))
]
}

81
src/main/resources/org/rairlab/planner/problems/conformant/progression.clj
View file

@ -1,81 +0,0 @@
; Original problem from Joerg Hoffmann and Ronen Brafman
{:name "Block-Conformant-Tiny"
:background [
; Setting object types
(Believes! a t0 (block b1))
(Believes! a t0 (block b2))
; Unique name axioms
(Believes! a t0 (not (= b1 b2)))
; Block World Axioms
; Blocks are never on themselves
(Believes! a t0 (forall [x] (not (on x x))))
; on is not symmetric
(Believes! a t0 (forall [x y] (if (on x y) (not (on y x)))))
; Any block on a table isn't on top of another block
(Believes! a t0 (forall [x y] (if (on-table x) (not (on x y)))))
; Any block that is cleared does not have another block on top of it
(Believes! a t0 (forall [x y] (if (clear x) (not (on y x)))))
]
:actions [
(define-action move-t-to-b [?bm ?bt] {
:preconditions [
(Believes! a ?now (and
; Type Restrictions
(block ?bm)
(block ?bt)
; Arguments Unique
(not (= ?bm ?bt))
; Primary preconditions
(clear ?bm)
(clear ?bt)
(on-table ?bm)
))
; NOTE: QA Algorithm is very barebones,
; currently does not support beliefs under
; binary operations. Example:
;; (and
;; (Believes! a t0 (block ?bm))
;; (Believes! a t0 (block ?bt))
;; )
]
:additions [
; ShadowProver uses string comparisons to determine
; ordering on time points.
; Spectra currently hacks around this by replacing
; ?next where the constant
; that represents ?now + 1.
; ShadowProver Limitation: Cannot go beyond 10 time points
(Believes! a ?next (on ?bm ?bt))
; These below shouldn't be needed but left for posterity
;; (Believes! a ?next (not (clear ?bt)))
;; (Believes! a ?next (not (on-table ?bm)))
]
:deletions [ ]
})
]
:start [
; Unknown facts don't need to be stated
; since we don't assume closed world assumption.
; Negated predicates in this example is handled by
; the block world axioms
(Believes! a t0 (on-table b2))
(Believes! a t0 (on-table b1))
(Believes! a t0 (clear b1))
(Believes! a t0 (clear b2))
]
:goal [
;; (Believes! a t0 (clear ?bm))
; Try a there exists at some point
(exists [t] (Believes! a t (on b1 b2)))
]
}