rairlab/Spectra
1
0
Fork 0
mirror of https://github.com/RAIRLab/Spectra.git synced 2024-11-24 18:06:32 -05:00
Code Issues Projects Releases Packages Wiki Activity

Speeding up things

Browse source
This commit is contained in:
Naveen Sundar Govindarajulu 2017-01-21 09:13:58 -06:00
parent b2da460d5c
commit bfaaf6d882
5 changed files with 319 additions and 105 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

30
src/main/java/edu/rpi/rair/DepthFirstPlanner.java
View file

@ -5,6 +5,7 @@ import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Pair;
import com.naveensundarg.shadow.prover.utils.Sets;
import javax.swing.text.html.Option;
import java.util.*;
import java.util.stream.Collectors;
@ -15,22 +16,40 @@ public class DepthFirstPlanner implements Planner {
private static final int MAX_DEPTH = 4;
private static final boolean EXHAUSTIVE_TILL_MAX_DEPTH = true;
@Override
public Optional<Set<Plan>> plan(Set<Formula> background, Set<Action> actions, State start, State goal) {
return planInternal(Sets.newSet(), 0, background, actions, start, goal);
if (!EXHAUSTIVE_TILL_MAX_DEPTH) {
return planInternal(Sets.newSet(), 0, MAX_DEPTH, background, actions, start, goal);
} else {
for (int i = 1; i <= MAX_DEPTH; i++) {
Optional<Set<Plan>> plans = planInternal(Sets.newSet(), 0, i, background, actions, start, goal);
if (plans.isPresent()) {
return plans;
}
}
//
return Optional.empty();
}
}
private Optional<Set<Plan>> planInternal(Set<Pair<State, Action>> history, int currentDepth, int maxDepth, Set<Formula> background, Set<Action> actions, State start, State goal) {
private Optional<Set<Plan>> planInternal(Set<Pair<State, Action>> history, int currentDepth, Set<Formula> background, Set<Action> actions, State start, State goal) {
if(currentDepth>=MAX_DEPTH){
if (currentDepth >= maxDepth) {
return Optional.empty();
}
@ -52,8 +71,7 @@ public class DepthFirstPlanner implements Planner {
for (Pair<State, Action> stateActionPair : nextStateActionPairs.get()) {
Optional<Set<Plan>> planOpt = planInternal(history, currentDepth+1, background, actions, stateActionPair.first(), goal);
Optional<Set<Plan>> planOpt = planInternal(history, currentDepth + 1, maxDepth, background, actions, stateActionPair.first(), goal);
if (planOpt.isPresent()) {

107
src/main/java/edu/rpi/rair/utils/RunDemo.java
View file

@ -2,6 +2,11 @@ package edu.rpi.rair.utils;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.naveensundarg.shadow.prover.Sandbox;
import com.naveensundarg.shadow.prover.core.Problem;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.shadow.prover.core.SnarkWrapper;
import com.naveensundarg.shadow.prover.utils.ProblemReader;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.Goal;
import edu.rpi.rair.GoalTracker;
@ -19,10 +24,36 @@ public class RunDemo {
static ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
static {
Prover prover = new SnarkWrapper();
try {
List<Problem> problems = ProblemReader.readFrom(Sandbox.class.getResourceAsStream("firstorder-completness-tests.clj"));
problems.forEach(problem -> {
for (int i = 0; i < 5; i++) {
prover.prove(problem.getAssumptions(), problem.getGoal());
}
});
planningProblemWarmUp();
System.out.println("WARM UP DONE");
} catch (Reader.ParsingException e) {
e.printStackTrace();
}
}
public static void main(String[] args) throws Reader.ParsingException {
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_2.clj")));
System.out.println();
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_3.clj")));
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
@ -35,10 +66,19 @@ public class RunDemo {
Goal g1 = goalTrackingProblem.getGoalNamed("G1");
Goal g2 = goalTrackingProblem.getGoalNamed("G2");
Goal g3 = goalTrackingProblem.getGoalNamed("G3");
Goal g4 = goalTrackingProblem.getGoalNamed("G4");
tryAndAddGoal(g1, goalTracker);
tryAndAddGoal(g2, goalTracker);
tryAndAddGoal(g3, goalTracker);
tryAndAddGoal(g4, goalTracker);
long end = System.currentTimeMillis();
cp.println("--------------------------");
@ -48,10 +88,62 @@ public class RunDemo {
cp.clear();
cp.print(" ");
cp.setAttribute(Ansi.Attribute.BOLD);
cp.print((end-start)/1000 + "s");
cp.print((end - start) / 1000 + "s");
}
public static void planningProblemWarmUp() throws Reader.ParsingException {
for (int i = 0; i < 5; i++) {
System.out.println();
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_1.clj")));
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
GoalTracker goalTracker = new GoalTracker(goalTrackingProblem.getPlanningProblem().getBackground(),
goalTrackingProblem.getPlanningProblem().getStart(),
goalTrackingProblem.getPlanningProblem().getActions());
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");
goalTracker.adoptGoal(g1);
System.out.print(".");
goalTracker.adoptGoal(g2);
System.out.print(".");
goalTracker.adoptGoal(g3);
System.out.print(".");
goalTracker.adoptGoal(g4);
System.out.print(".");
goalTracker.adoptGoal(g5);
System.out.print(".");
}
}
static void tryAndAddGoal(Goal g, GoalTracker goalTracker) {
@ -62,15 +154,15 @@ public class RunDemo {
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());
printSuccess("Successfully added:", g.getName());
printDebug1("Current Goals:", goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
Plan plan = possibleGoalPlan.get();
printDebug2("Plan:" , plan.getActions().isEmpty()? "No plan needed. Already satisfied." : plan.getActions().toString() );
printDebug2("Plan:", plan.getActions().isEmpty() ? "No plan needed. Already satisfied." : plan.getActions().toString());
} else {
printFailure("Could not add " + g.getName());
printDebug1("Current Goals: " , goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
printDebug1("Current Goals: ", goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
}
@ -103,8 +195,6 @@ public class RunDemo {
}
static void printDebug1(String header, String message) {
cp.setForegroundColor(Ansi.FColor.BLACK);
@ -130,6 +220,7 @@ public class RunDemo {
cp.println("");
cp.clear();
}
static void printFailure(String message) {
cp.setForegroundColor(Ansi.FColor.WHITE);

17
src/main/resources/edu/rpi/rair/goal_management_1.clj
View file

@ -1,7 +1,6 @@
{:definitions
{:name "demo 1"
:background [
(forall [?x ?room1 ?room2]
:background [(forall [?x ?room1 ?room2]
(if (not (= ?room1 ?room2))
(if (in ?x ?room1) (not (in ?x ?room2))) ))
(not (= room1 room2))
@ -9,8 +8,8 @@
(not (= self prisoner))
(not (= self commander))
(person prisoner)
(person commander)
]
(person commander)]
:start [(in self room1)
(in commander room2)
(in prisoner room1)
@ -67,20 +66,20 @@
]
}
:goals {G1 {:priority 6.0
:goals {G1 {:priority 1.0
:state [(not (open (door room1)))]}
G2 {:priority 6.0
G2 {:priority 1.0
:state [(in prisoner room1)]}
G3 {:priority 6.0
G3 {:priority 1.0
:state [(forall [?room]
(if (in prisoner ?room)
(in self ?room)))]}
G4 {:priority 3.0
G4 {:priority 1.0
:state [(in prisoner room2)
(in self room2)]}
G5 {:priority 2.0
G5 {:priority 1.0
:state [(interrogates commander prisoner)]}}

17
src/main/resources/edu/rpi/rair/goal_management_2.clj
View file

@ -1,8 +1,7 @@
{:definitions
{:name "test"
:background []
:start [
(forall [?x ?room1 ?room2] (implies (and (not (= ?room1 ?room2)) (in ?x ?room1)) (not (in ?x ?room2))))
:start [(forall [?x ?room1 ?room2] (implies (and (not (= ?room1 ?room2)) (in ?x ?room1)) (not (in ?x ?room2))))
(not (= room1 room2))
(not (= prisoner commander))
(not (= self prisoner))
@ -58,14 +57,16 @@
:deletions []})
(define-action open-door [?room ?actor]
{:preconditions [(not (open (door ?room)))]
:additions [(open (door ?room))
(did (open-door ?actor ?room))]
:deletions [(not (open (door ?room)))]})]
}
]
}
:goals {G1 {:priority 1.0
:state [(sameroom self prisoner)]}
:goals {
G2 {:priority 2.0
:state [(in prisoner room2)]}
:state [(sameroom prisoner room2)]}
}
}

105
src/main/resources/edu/rpi/rair/goal_management_3.clj Normal file
View file

@ -0,0 +1,105 @@
{:definitions
{:name "demo 1"
:background []
:start [
(forall (?room ?x ?y) (implies (and (in ?x ?room) (and (in ?y ?room) (not (= ?x ?y)))) (sameroom ?x ?y)))
(not (= prisoner commander))
(not (= self prisoner))
(in prisoner room1)
(person prisoner)
(not (= room1 room2))
(in self room1)
(in commander room2)
(commander commander)
(forall (?room2 ?x ?room1) (implies (and (not (= ?room1 ?room2)) (in ?x ?room1)) (not (in ?x ?room2))))
(person commander)
(robot self)
(not (= self commander))
(not (open (door room1)))
(open (door room2))
(forall (?room ?x ?y) (implies (and (sameroom ?x ?y) (in ?x ?room)) (in ?y ?room)))
]
:goal []
:actions
[
(define-action move [?actor ?person ?room2 ?room1]
{:preconditions [(robot ?actor)
(person ?person)
(not (= ?room1 ?room2))
(open (door ?room1))
(in ?person ?room2)
(open (door ?room2))]
:additions [(in ?person ?room1)]
:deletions [(in ?person ?room1)]
})
(define-action keepDoorClosed [?actor ?room]
{:preconditions [(robot ?actor)
(not (open (door ?room)))]
:additions []
:deletions [(open (door ?room))]
})
(define-action accompany [?actor ?person ?room1 ?room2]
{:preconditions [(robot ?actor)
(person ?person)
(not (= ?room1 ?room2))
(open (door ?room1))
(in ?person ?room1)
(open (door ?room2))
(not (= ?person ?actor))
(in ?actor ?room1)]
:additions [(in ?actor ?room2)
(in ?person ?room2)]
:deletions [(in ?person ?room1)
(in ?actor ?room1)]
})
(define-action openDoor [?actor ?room]
{:preconditions [(robot ?actor)
(not (open (door ?room)))]
:additions [(open (door ?room))]
:deletions [(not (open (door ?room)))]
})
(define-action stayInRoom [?actor ?room]
{:preconditions [(in ?actor ?room)]
:additions [(in ?actor ?room)]
:deletions []
})
(define-action interrogate [?actor ?person]
{:preconditions [(person ?person)
(commander ?actor)
(in ?actor ?room)
(in ?person ?room)]
:additions [(interrogates ?actor ?person)]
:deletions []
})
(define-action staySameRoom [?actor ?person]
{:preconditions [(robot ?actor)
(sameroom ?actor ?person)
(person ?person)
(in ?actor ?room)
(in ?person ?room)]
:additions [(sameroom ?actor ?person)]
:deletions []
})
]
}
:goals {G1 {:priority 1.0
:state [(not (open (door room1)))]}
G2 {:priority 1.0
:state [(in prisoner room1)]}
G3 {:priority 1.0
:state [(sameroom self prisoner)]}
G4 {:priority 3.0
:state [(in prisoner room2)]}
}
}