mirror of
https://github.com/RAIRLab/Spectra.git
synced 2024-11-08 10:40:37 -05:00
A lot of commits.
This commit is contained in:
parent
9bdf4fe029
commit
e6cfb3e654
17 changed files with 239 additions and 61 deletions
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@ -91,7 +91,7 @@
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(snark:initialize :verbose verbose)
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(if (not verbose) (snark-deverbose) )
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(temp-sorts)
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(snark:run-time-limit 1)
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(snark:run-time-limit 0.05)
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(snark:assert-supported t)
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(snark:assume-supported t)
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(snark:prove-supported t)
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@ -105,6 +105,18 @@ public class Action {
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return precondition;
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}
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public Set<Formula> getPreconditions() {
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return preconditions;
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}
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public Set<Formula> getAdditions() {
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return additions;
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}
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public Set<Formula> getDeletions() {
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return deletions;
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}
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public List<Variable> openVars() {
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return freeVariables;
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26
src/main/java/edu/rpi/rair/ContextNormPlanner.java
Normal file
26
src/main/java/edu/rpi/rair/ContextNormPlanner.java
Normal file
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@ -0,0 +1,26 @@
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package edu.rpi.rair;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import edu.rpi.rair.utils.PlanningProblem;
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import java.util.List;
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import java.util.Optional;
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import java.util.Set;
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public class ContextNormPlanner implements Planner {
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private static DepthFirstPlanner depthFirstPlanner = new DepthFirstPlanner();
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@Override
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public Optional<Set<Plan>> plan(Set<Formula> background, Set<Action> actions, State start, State goal) {
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return depthFirstPlanner.plan(background, actions, start, goal);
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}
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@Override
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public Optional<Set<Plan>> plan(PlanningProblem problem, Set<Formula> background, Set<Action> actions, State start, State goal) {
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List<Plan> methods = problem.getPlanMethods();
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}
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}
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@ -1,12 +1,16 @@
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package edu.rpi.rair;
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import com.naveensundarg.shadow.prover.core.proof.Justification;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.Pair;
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import com.naveensundarg.shadow.prover.utils.Sets;
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import edu.rpi.rair.utils.Commons;
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import edu.rpi.rair.utils.PlanningProblem;
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import edu.rpi.rair.utils.Visualizer;
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import java.util.*;
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import java.util.function.Function;
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import java.util.stream.Collectors;
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/**
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@ -18,6 +22,8 @@ public class DepthFirstPlanner implements Planner {
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private static int MAX_DEPTH = 5;
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private static boolean EXHAUSTIVE_TILL_MAX_DEPTH = true;
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private static boolean USE_METHODS = true;
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public static int getMaxDepth() {
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return MAX_DEPTH;
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}
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@ -64,6 +70,15 @@ public class DepthFirstPlanner implements Planner {
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@Override
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public Optional<Set<Plan>> plan(PlanningProblem problem, Set<Formula> background, Set<Action> actions, State start, State goal) {
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if(USE_METHODS){
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Optional<Set<Plan>> optionalPlansFromMethods = plan(problem, background, actions, start, goal, problem.getPlanMethods());
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if(optionalPlansFromMethods.isPresent()){
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return optionalPlansFromMethods;
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}
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}
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if (!EXHAUSTIVE_TILL_MAX_DEPTH) {
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@ -117,6 +132,79 @@ public class DepthFirstPlanner implements Planner {
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}
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public Optional<Set<Plan>> plan(PlanningProblem problem, Set<Formula> background, Set<Action> actions, State start, State goal, List<PlanMethod> planMethods){
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Set<Plan> plans = Sets.newSet();
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Function<PlanSketch, Optional<Plan>> verifier = (planSketch) -> verify(background, start, goal, planSketch);
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for (PlanMethod planMethod: planMethods){
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Optional<List<PlanSketch>> optionalPlanSketches = planMethod.apply(background, start.getFormulae(), goal.getFormulae(), problem.getActions());
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optionalPlanSketches.ifPresent(planSketches -> planSketches.forEach(planSketch -> verifier.apply(planSketch).ifPresent(plans::add)));
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}
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if(!plans.isEmpty()){
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return Optional.of(plans);
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} else {
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return Optional.empty();
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}
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}
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public Optional<Plan> verify(Set<Formula> background, State start, State goal, PlanSketch planSketch){
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List<Action> sketchActions = planSketch.getActions();
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List<State> expectedStates = CollectionUtils.newEmptyList();
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Set<Formula> current = Sets.union(background, start.getFormulae());
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expectedStates.add(State.initializeWith(current));
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for(Action action: sketchActions){
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Set<Formula> preconditions = action.getPreconditions();
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Set<Formula> additions = action.getAdditions();
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Set<Formula> deletions = action.getDeletions();
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Optional<Justification> optPrecond = Operations.proveCached(current, Commons.makeAnd(preconditions));
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if(optPrecond.isPresent()){
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current.addAll(additions);
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current.removeAll(deletions);
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expectedStates.add(State.initializeWith(current));
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} else {
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return Optional.empty();
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}
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}
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if(!Operations.proveCached(current, Commons.makeAnd(goal.getFormulae())).isPresent()){
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return Optional.empty();
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}
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return Optional.of(new Plan(sketchActions, expectedStates, background));
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}
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private Optional<Set<Plan>> planInternal(Set<Pair<State, Action>> history, int currentDepth, int maxDepth, Set<Formula> background, Set<Action> actions, State start, State goal) {
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if (currentDepth >= maxDepth) {
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@ -8,6 +8,6 @@ import edu.rpi.rair.utils.PlanningProblem;
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*/
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public interface Inducer {
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Plan induce(PlanningProblem planningProblem, State start, Goal goal, Plan plan);
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PlanMethod induce(PlanningProblem planningProblem, State start, Goal goal, Plan plan);
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}
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@ -111,13 +111,18 @@ public class PlanMethod {
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}
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/* (define-method planMethod [?b ?c ?d]
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{:goal [(In ?b ?c) (In ?c ?d)]
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:while [(In ?b ?d) (Empty ?c)
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(< (size ?c) (size ?d))
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(< (size ?b) (size ?c))]
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:actions [(removeFrom ?b ?d) (placeInside ?b ?c) (placeInside ?c ?d)]})
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*/
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@Override
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public String toString() {
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return "PlanMethod{" +
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"backGroundStatePreconditions=" + backGroundStatePreconditions +
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", goalPreconditions=" + goalPreconditions +
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", freeVariables=" + freeVariables +
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", actionCompounds=" + actionCompounds +
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'}';
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return "(define-method planMethod " + freeVariables.toString().replace(",", " ") + "\n" +
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"\t{:goal " + goalPreconditions.toString().replace(",", " ") + "\n" +
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"\t:while " + backGroundStatePreconditions.toString().replace(",", " ") + "\n" +
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"\t:actions " + actionCompounds.toString().replace(",", " ") + "})";
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}
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}
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@ -15,4 +15,7 @@ public interface Planner {
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Optional<Set<Plan>> plan(Set<Formula> background, Set<Action> actions, State start, State goal);
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Optional<Set<Plan>> plan(PlanningProblem problem, Set<Formula> background, Set<Action> actions, State start, State goal);
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}
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@ -10,19 +10,18 @@ import edu.rpi.rair.*;
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import edu.rpi.rair.utils.Commons;
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import edu.rpi.rair.utils.PlanningProblem;
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import java.util.Arrays;
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import java.util.List;
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import java.util.Map;
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import java.util.Set;
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import java.util.*;
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import java.util.function.Function;
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import java.util.stream.Collectors;
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/**
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* Created by naveensundarg on 12/19/17.
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*/
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public class SimpleInducer implements Inducer{
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public class SimpleInducer implements Inducer {
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@Override
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public Plan induce(PlanningProblem planningProblem, State start, Goal goal, Plan plan) {
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public PlanMethod induce(PlanningProblem planningProblem, State start, Goal goal, Plan plan) {
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List<Action> actionList = plan.getActions();
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@ -41,9 +40,14 @@ public class SimpleInducer implements Inducer{
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Map<Value, Variable> valueVariableMap = Commons.makeVariables(values);
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Function<Set<Formula>,Set<Formula>> getRelevantFormula = formulae -> formulae.stream().
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filter(formula -> !Sets.intersection(values, formula.valuesPresent()).isEmpty()).
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collect(Collectors.toSet());
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Function<Set<Formula>,Set<Formula>> getRelevantFormula = formulae -> {
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return formulae.stream().
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filter(formula -> Sets.difference(formula.valuesPresent().stream().filter(Value::isConstant).collect(Collectors.toSet()),
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values).isEmpty() &&
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!Sets.intersection(values, formula.valuesPresent()).isEmpty()).
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collect(Collectors.toSet());
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};
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Set<Formula> relevantBackgroundFormula = getRelevantFormula.apply(backgroundFormula);
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Set<Formula> relevantInitFormula = getRelevantFormula.apply(initFormula);
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@ -58,6 +62,14 @@ public class SimpleInducer implements Inducer{
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System.out.println(relevantInitFormula);
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System.out.println(relevantGoalFormula);
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return null;
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}
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//PlanMethod(Set<Formula> goalPreconditions, Set<Formula> backGroundStatePreconditions, List<Variable> freeVariables, List<Compound> actionCompounds
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return new PlanMethod(Commons.generalize(valueVariableMap, relevantGoalFormula),
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Sets.union(Commons.generalize(valueVariableMap, relevantBackgroundFormula),
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Commons.generalize(valueVariableMap, relevantInitFormula)),
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new ArrayList<>(valueVariableMap.values()), actionCompounds.stream().map(x-> (Compound) x.generalize(valueVariableMap)).
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collect(Collectors.toList()));
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}
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}
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@ -12,6 +12,7 @@ import com.naveensundarg.shadow.prover.utils.Sets;
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import edu.rpi.rair.State;
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import us.bpsm.edn.parser.Parseable;
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import java.util.ArrayList;
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import java.util.Map;
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import java.util.Set;
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import java.util.function.BiFunction;
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@ -49,25 +50,10 @@ public class Commons {
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return valueVariableMap;
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}
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public static Formula generalize(Map<Value, Variable> universalValueVariableMap, Set<Formula> formulae){
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Set<Value> allValues = formulae.stream().map(Formula::valuesPresent).reduce(Sets.newSet(), Sets::union).stream().filter(x->x.isConstant()).collect(Collectors.toSet());
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Map<Value, Variable> existentialValueVariableMap = makeVariables(Sets.difference(allValues, universalValueVariableMap.keySet()), universalValueVariableMap.size() + 1);
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public static Set<Formula> generalize(Map<Value, Variable> universalValueVariableMap, Set<Formula> formulae){
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Map<Value, Variable> combinedMap = combine((universalValueVariableMap), (existentialValueVariableMap));
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Formula f = (new And(formulae.stream().collect(Collectors.toList()))).generalize(combinedMap);
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Variable[] universalVars = new Variable[universalValueVariableMap.values().size()];
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universalVars = universalValueVariableMap.values().toArray(universalVars);
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Variable[] existentialVars = new Variable[existentialValueVariableMap.values().size()];
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existentialVars = existentialValueVariableMap.values().toArray(existentialVars);
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System.out.println(new Universal(universalVars, new Existential(existentialVars, f)));
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return new Universal(universalVars, new Existential(existentialVars, f));
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return formulae.stream().map(x->x.generalize(universalValueVariableMap)).collect(Collectors.toSet());
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}
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public static <U, V> Map<V, U> reverse(Map<U, V> map){
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@ -104,5 +90,10 @@ public class Commons {
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return w;
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}
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public static And makeAnd(Set<Formula> formulae){
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return new And(new ArrayList<>(formulae));
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}
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}
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@ -4,6 +4,7 @@ import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.Reader;
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import edu.rpi.rair.Goal;
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import edu.rpi.rair.PlanMethod;
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import edu.rpi.rair.State;
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import us.bpsm.edn.Keyword;
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import us.bpsm.edn.parser.Parseable;
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@ -16,6 +17,8 @@ import java.io.InputStream;
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import java.io.InputStreamReader;
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import java.util.*;
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import static edu.rpi.rair.utils.Reader.readPlanMethodsFrom;
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/**
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* Created by naveensundarg on 1/13/17.
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*/
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@ -32,6 +35,7 @@ public class GoalTrackingProblem {
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private static final Keyword PRIORITY = Keyword.newKeyword("priority");
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private static final Keyword STATE = Keyword.newKeyword("state");
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public GoalTrackingProblem(PlanningProblem planningProblem, Set<Goal> goals) {
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this.planningProblem = planningProblem;
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this.goals = goals;
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@ -44,7 +48,19 @@ public class GoalTrackingProblem {
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}
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public static List<GoalTrackingProblem> readFromFile(InputStream inputStream) throws Reader.ParsingException {
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public static List<GoalTrackingProblem> readFromFiles(InputStream definitionInputStream, InputStream methodsInputStream) throws Reader.ParsingException {
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List<GoalTrackingProblem> goalTrackingProblems = readFromFile(definitionInputStream);
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List<PlanMethod> planMethods = readPlanMethodsFrom(methodsInputStream);
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goalTrackingProblems.stream().map(GoalTrackingProblem::getPlanningProblem).forEach(x->x.addToPlanMethods(planMethods));
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return goalTrackingProblems;
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}
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public static List<GoalTrackingProblem> readFromFile(InputStream inputStream) throws Reader.ParsingException {
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Parseable parseable = Parsers.newParseable(new InputStreamReader(inputStream));
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Parser parser = Parsers.newParser(Parsers.defaultConfiguration());
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|
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@ -39,8 +39,10 @@ public class LearningSystem {
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Visualizer.setShouldVisualize(false);
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List<GoalTrackingProblem> goalTrackingProblemList1 = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("seriated_challenge_1.clj")));
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List<GoalTrackingProblem> goalTrackingProblemList2 = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("seriated_challenge_2.clj")));
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List<GoalTrackingProblem> goalTrackingProblemList1 = (GoalTrackingProblem.readFromFiles(Sandbox.class.getResourceAsStream("../problems/seriated/seriated_challenge_1.clj"),
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Sandbox.class.getResourceAsStream("../problems/seriated/methods.clj")));
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List<GoalTrackingProblem> goalTrackingProblemList2 = (GoalTrackingProblem.readFromFiles(Sandbox.class.getResourceAsStream("../problems/seriated/seriated_challenge_2.clj"),
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Sandbox.class.getResourceAsStream("../problems/seriated/methods.clj")));
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GoalTrackingProblem goalTrackingProblem1 = goalTrackingProblemList1.get(0);
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|
|
|
@ -9,6 +9,7 @@ import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.Reader;
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import com.naveensundarg.shadow.prover.utils.Sets;
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import edu.rpi.rair.Action;
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import edu.rpi.rair.PlanMethod;
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import edu.rpi.rair.State;
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import us.bpsm.edn.Keyword;
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import us.bpsm.edn.Symbol;
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|
@ -38,6 +39,7 @@ public class PlanningProblem {
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private Map<String, Action> actionMap;
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private Set<Value> avoidIfPossible;
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private final List<PlanMethod> planMethods;
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private static final Keyword BACKGROUND = Keyword.newKeyword("background");
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private static final Keyword START = Keyword.newKeyword("start");
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|
@ -63,7 +65,7 @@ public class PlanningProblem {
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this.name = name;
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this.actionMap = CollectionUtils.newMap();
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this.avoidIfPossible = avoidIfPossible;
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|
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this.planMethods = CollectionUtils.newEmptyList();
|
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this.expectedActionSequencesOpt = Optional.empty();
|
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|
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}
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|
@ -77,6 +79,7 @@ public class PlanningProblem {
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this.name = name;
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this.actionMap = CollectionUtils.newMap();
|
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this.avoidIfPossible = avoidIfPossible;
|
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this.planMethods = CollectionUtils.newEmptyList();
|
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|
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this.expectedActionSequencesOpt = Optional.of(expectedActionSequences);
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}
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|
@ -340,6 +343,15 @@ public class PlanningProblem {
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return avoidIfPossible;
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}
|
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|
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|
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public List<PlanMethod> getPlanMethods() {
|
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return planMethods;
|
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}
|
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|
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public void addToPlanMethods(List<PlanMethod> methods){
|
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|
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planMethods.addAll(methods);
|
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}
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@Override
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public String toString() {
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return "PlanningProblem{" +
|
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|
|
|
@ -5,8 +5,7 @@ import com.diogonunes.jcdp.color.api.Ansi;
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import com.google.common.collect.Sets;
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import com.naveensundarg.shadow.prover.core.Prover;
|
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import com.naveensundarg.shadow.prover.core.SnarkWrapper;
|
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import com.naveensundarg.shadow.prover.sandboxes.Sandbox;
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import com.naveensundarg.shadow.prover.utils.Problem;
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import com.naveensundarg.shadow.prover.utils.Problem;
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import com.naveensundarg.shadow.prover.utils.ProblemReader;
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||||
import com.naveensundarg.shadow.prover.utils.Reader;
|
||||
import edu.rpi.rair.*;
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||||
|
@ -62,14 +61,14 @@ public class RunDemo {
|
|||
|
||||
Visualizer.setShouldVisualize(false);
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||||
|
||||
runProblem("seriated_challenge_1.clj");
|
||||
runProblem("../problems/seriated/seriated_challenge_1.clj");
|
||||
// runProblem("seriated_challenge_2.clj");
|
||||
|
||||
|
||||
}
|
||||
|
||||
private static void runProblem(String name) throws Reader.ParsingException {
|
||||
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream(name)));
|
||||
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Sandbox.class.getResourceAsStream(name)));
|
||||
|
||||
|
||||
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
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||||
|
@ -130,10 +129,10 @@ public class RunDemo {
|
|||
public static void planningProblemWarmUp() throws Reader.ParsingException {
|
||||
|
||||
|
||||
for (int i = 0; i < 0; i++) {
|
||||
for (int i = 0; i < 1; i++) {
|
||||
|
||||
|
||||
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_1.clj")));
|
||||
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Sandbox.class.getResourceAsStream("../problems/prisoner/goal_management_1.clj")));
|
||||
|
||||
|
||||
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
|
||||
|
@ -184,7 +183,7 @@ public class RunDemo {
|
|||
Optional<Plan> possibleGoalPlan = goalTracker.adoptGoal(g);
|
||||
if (possibleGoalPlan.isPresent()) {
|
||||
|
||||
simpleInducer.induce(goalTracker.getProblem(), goalTracker.getProblem().getStart(), g, possibleGoalPlan.get());
|
||||
System.out.println(simpleInducer.induce(goalTracker.getProblem(), goalTracker.getProblem().getStart(), g, possibleGoalPlan.get()));
|
||||
|
||||
printSuccessLater("Successfully added:", g.getName());
|
||||
printDebug1Later("Current Goals and Constraint:", "\n" + goalTracker.getCurrentGoals().stream().collect(Collectors.toSet()).toString());
|
||||
|
|
|
@ -17,6 +17,7 @@ public class Sandbox {
|
|||
|
||||
List<GoalTrackingProblem> goalTrackingProblemList1 = (GoalTrackingProblem.readFromFile(Sandbox.class.getResourceAsStream("../problems/seriated/seriated_challenge_1.clj")));
|
||||
|
||||
List<GoalTrackingProblem> goalTrackingProblemList2 = (GoalTrackingProblem.readFromFile(Sandbox.class.getResourceAsStream("../problems/seriated/seriated_challenge_2.clj")));
|
||||
|
||||
System.out.println(seriatedPlanMethod.apply(goalTrackingProblemList1.get(0).getPlanningProblem().getBackground(),
|
||||
goalTrackingProblemList1.get(0).getPlanningProblem().getStart().getFormulae(),
|
||||
|
@ -26,6 +27,15 @@ public class Sandbox {
|
|||
));
|
||||
|
||||
|
||||
System.out.println(seriatedPlanMethod.apply(goalTrackingProblemList2.get(0).getPlanningProblem().getBackground(),
|
||||
goalTrackingProblemList2.get(0).getPlanningProblem().getStart().getFormulae(),
|
||||
goalTrackingProblemList2.get(0).getGoalNamed("G1").getGoalState().getFormulae(),
|
||||
goalTrackingProblemList2.get(0).getPlanningProblem().getActions()
|
||||
|
||||
));
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,9 +1,7 @@
|
|||
;; (removeFrom ?x ?y) => "Remove ?x from ?y"
|
||||
;; (placeInside ?x ?y) ==> "Place ?x inside ?y"
|
||||
|
||||
(define-method planMethod [?b ?c ?d]
|
||||
{:goal [(In ?b ?c) (In ?c ?d)]
|
||||
:while [(In ?b ?d) (Empty ?c)
|
||||
(< (size ?c) (size ?d))
|
||||
(< (size ?b) (size ?c))]
|
||||
(define-method planMethod [?b ?d ?c]
|
||||
{:goal [(In ?b ?c) (In ?c ?d)]
|
||||
:while [(< (size ?c) (size ?d)) (< (size ?b) (size ?c)) (In ?b ?d) (Empty ?c)]
|
||||
:actions [(removeFrom ?b ?d) (placeInside ?b ?c) (placeInside ?c ?d)]})
|
|
@ -20,16 +20,12 @@
|
|||
;;; Sizes of cups
|
||||
(< (size a) (size b))
|
||||
(< (size b) (size c))
|
||||
(< (size c) (size d))
|
||||
(< (size d) (size e))
|
||||
(< (size e) (size f))
|
||||
(< (size f) (size g))
|
||||
(< (size g) (size h))]
|
||||
(< (size c) (size d))]
|
||||
|
||||
|
||||
:start [(In a b)
|
||||
(In b d)
|
||||
(Empty c)]
|
||||
(Empty c)]
|
||||
|
||||
|
||||
:goal [ ]
|
||||
|
@ -46,12 +42,17 @@
|
|||
:deletions [(In ?x ?y)]})]}
|
||||
|
||||
:goals {G1 {:priority 1.0
|
||||
:context { :work-from-scratch false
|
||||
:plan-methods
|
||||
(define-method planMethod [?b ?d ?c]
|
||||
{:goal [(In ?b ?c) (In ?c ?d)]
|
||||
:while [(< (size ?c) (size ?d)) (< (size ?b) (size ?c)) (In ?b ?d) (Empty ?c)]
|
||||
:actions [(removeFrom ?b ?d) (placeInside ?b ?c) (placeInside ?c ?d)]})}
|
||||
:state [(In a b)
|
||||
(In b c)
|
||||
(In c d)]}}
|
||||
|
||||
|
||||
;;(removeFrom b d) (placeInside b c) (placeInside c d)
|
||||
|
||||
|
||||
}
|
||||
|
|
|
@ -54,14 +54,17 @@
|
|||
}
|
||||
|
||||
:goals {G1 {:priority 1.0
|
||||
|
||||
|
||||
:state [(In a b)
|
||||
(In b c)
|
||||
(In c d)
|
||||
(In d e)
|
||||
(In e f)
|
||||
(In f g)
|
||||
(In g h)
|
||||
]}}
|
||||
(In g h)]
|
||||
|
||||
}}
|
||||
|
||||
|
||||
;;(removeFrom b d) (placeInside b c) (placeInside c d)
|
||||
|
|
Loading…
Reference in a new issue