mirror of
https://github.com/RAIRLab/Spectra.git
synced 2025-10-26 22:51:19 +00:00
More tweaks
This commit is contained in:
Naveen Sundar Govindarajulu
parent
598f9b3dff
commit
f3ddd342c6
22 changed files with 710 additions and 175 deletions
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@ -14,10 +14,26 @@ import java.util.stream.Collectors;
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public class DepthFirstPlanner implements Planner {
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private static final int MAX_DEPTH = 4;
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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 planInternal(Sets.newSet(), 0, background, actions, start, goal);
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}
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private Optional<Set<Plan>> planInternal(Set<Pair<State, Action>> history, int currentDepth, Set<Formula> background, Set<Action> actions, State start, State goal) {
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if(currentDepth>=MAX_DEPTH){
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return Optional.empty();
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}
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if (Operations.satisfies(background, start, goal)) {
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//Already satisfied. Do nothing. Return a set with an empty plan.
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return Optional.of(Sets.with(Plan.newEmptyPlan(goal, background)));
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@ -29,29 +45,38 @@ public class DepthFirstPlanner implements Planner {
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for (Action action : actions) {
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Optional<Pair<State, Action>> nextStateActionPair = Operations.apply(background, action, start);
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Optional<Set<Pair<State, Action>>> nextStateActionPairs = Operations.apply(background, action, start);
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if (nextStateActionPair.isPresent()) {
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if (nextStateActionPairs.isPresent()) {
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Optional<Set<Plan>> planOpt = plan(background, actions, nextStateActionPair.get().first(), goal);
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for (Pair<State, Action> stateActionPair : nextStateActionPairs.get()) {
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if (planOpt.isPresent()) {
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atleastOnePlanFound = true;
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Set<Plan> nextPlans = planOpt.get();
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State nextSate = nextStateActionPair.get().first();
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Action instantiatedAction = nextStateActionPair.get().second();
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Optional<Set<Plan>> planOpt = planInternal(history, currentDepth+1, background, actions, stateActionPair.first(), goal);
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Set<Plan> augmentedPlans = nextPlans.stream().
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map(plan -> plan.getPlanByStartingWith(instantiatedAction, nextSate)).
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collect(Collectors.toSet());
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if (planOpt.isPresent()) {
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allPlans.addAll(augmentedPlans);
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//TODO: store different plans and return the best plan.
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atleastOnePlanFound = true;
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Set<Plan> nextPlans = planOpt.get();
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State nextSate = stateActionPair.first();
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Action instantiatedAction = stateActionPair.second();
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Set<Plan> augmentedPlans = nextPlans.stream().
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map(plan -> plan.getPlanByStartingWith(instantiatedAction, nextSate)).
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collect(Collectors.toSet());
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allPlans.addAll(augmentedPlans);
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//TODO: store different plans and return the best plan.
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}
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}
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}
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}
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if (atleastOnePlanFound) {
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@ -67,4 +92,5 @@ public class DepthFirstPlanner implements Planner {
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}
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}
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@ -1,5 +1,7 @@
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package edu.rpi.rair;
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import java.util.concurrent.atomic.AtomicInteger;
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/**
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* Created by naveensundarg on 1/14/17.
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*/
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@ -7,18 +9,36 @@ public class Goal {
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private final State goalState;
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private final int priority;
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private final String name;
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private static final AtomicInteger nameCounter;
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static {
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nameCounter = new AtomicInteger(0);
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}
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private Goal(State goalState, int priority) {
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this.goalState = goalState;
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this.priority = priority;
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this.name = "G" + nameCounter.incrementAndGet();
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}
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private Goal(State goalState, int priority, String name) {
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this.goalState = goalState;
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this.priority = priority;
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this.name = name;
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}
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public static Goal makeGoal(State goalState, int priority){
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return new Goal(goalState, priority);
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}
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public static Goal makeGoal(State goalState, int priority, String name){
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return new Goal(goalState, priority, name);
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}
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public State getGoalState() {
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return goalState;
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}
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@ -27,11 +47,16 @@ public class Goal {
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return priority;
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}
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public String getName() {
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return name;
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}
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@Override
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public String toString() {
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return "Goal{" +
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"goalState=" + goalState +
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", priority=" + priority +
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", name='" + name + '\'' +
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'}';
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}
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@ -14,6 +14,9 @@ import java.util.Set;
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public class GoalTracker {
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private final Set<Formula> background;
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private State currentState;
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private final Set<Goal> currentGoals;
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@ -32,6 +35,7 @@ public class GoalTracker {
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public boolean adoptGoal(Goal goal) {
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Optional<Set<Plan>> possiblePlans = planner.plan(background, actions, currentState, goal.getGoalState());
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if (!possiblePlans.isPresent()) {
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@ -3,9 +3,11 @@ package edu.rpi.rair;
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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.representations.formula.And;
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import com.naveensundarg.shadow.prover.representations.formula.BiConditional;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.representations.value.Value;
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import com.naveensundarg.shadow.prover.representations.value.Variable;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.ImmutablePair;
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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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@ -14,6 +16,7 @@ import java.util.List;
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import java.util.Map;
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import java.util.Optional;
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import java.util.Set;
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import java.util.concurrent.*;
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import java.util.stream.Collectors;
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import static edu.rpi.rair.State.FALSE;
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@ -23,6 +26,7 @@ import static edu.rpi.rair.State.FALSE;
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*/
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public class Operations {
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private static boolean DEEP_EQUIVALENCE = false;
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private static Prover prover;
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static{
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@ -31,38 +35,125 @@ public class Operations {
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public static synchronized Optional<Map<Variable, Value>> proveAndGetBindings(Set<Formula> givens, Formula goal, List<Variable> variables){
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return prover.proveAndGetBindings(givens, goal, variables);
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Future<Optional<Map<Variable, Value>>> future = new FutureTask<>(()->{
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return prover.proveAndGetBindings(givens, goal, variables);
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});
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Optional<Map<Variable, Value>> answer;
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try{
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answer = future.get(1, TimeUnit.SECONDS);
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} catch (InterruptedException | ExecutionException | TimeoutException e) {
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answer = Optional.empty();
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}
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return answer;
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}
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public static Optional<Pair<State,Action>> apply(Set<Formula> background, Action action, State state){
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Prover prover = new SnarkWrapper();
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public static synchronized Optional<Set<Map<Variable, Value>>> proveAndGetMultipleBindings(Set<Formula> givens, Formula goal, List<Variable> variables){
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return prover.proveAndGetMultipleBindings(givens, goal, variables);
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/* Future<Optional<Set<Map<Variable, Value>>>> future = new FutureTask<>(()-> prover.proveAndGetMultipleBindings(givens, goal, variables));
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Optional<Set<Map<Variable, Value>>> answer;
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try{
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answer = future.get(50, TimeUnit.SECONDS);
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} catch (InterruptedException | ExecutionException | TimeoutException e ) {
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answer = Optional.empty();
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}
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return answer;
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*/
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}
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public static Optional<Set<Pair<State,Action>>> apply(Set<Formula> background, Action action, State state){
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Set<Formula> givens = Sets.union(background, state.getFormulae());
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Optional<Map<Variable, Value>> bingdingsOpt = proveAndGetBindings(givens, action.getPrecondition(), action.openVars());
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Optional<Set<Map<Variable, Value>>> bindingsOpt = proveAndGetMultipleBindings(givens, action.getPrecondition(), action.openVars());
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State newState;
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if(!bingdingsOpt.isPresent()){
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if(!bindingsOpt.isPresent()){
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return Optional.empty();
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}
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Set<Pair<State,Action>> nexts = Sets.newSet();
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for(Map<Variable, Value> binding: bindingsOpt.get()){
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if(binding.values().stream().anyMatch(x-> x instanceof Variable)){
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continue;
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}
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Set<Formula> instantiatedDeletions = action.instantiateDeletions(binding);
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Set<Formula> formulaeToRemove = state.getFormulae().stream().
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filter(f-> instantiatedDeletions.stream().anyMatch(d-> equivalent(background, f,d))).collect(Collectors.toSet());
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Set<Formula> newFormulae = state.getFormulae();
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newFormulae = Sets.union(newFormulae, action.instantiateAdditions(bingdingsOpt.get()));
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newFormulae = Sets.union(newFormulae, action.instantiateAdditions(binding));
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newFormulae = Sets.difference(newFormulae, formulaeToRemove);
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newFormulae = Sets.difference(newFormulae, action.instantiateDeletions(bingdingsOpt.get()));
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newState = State.initializeWith(newFormulae);
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return Optional.of(ImmutablePair.from(newState, action.instantiate(bingdingsOpt.get())));
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nexts.add(ImmutablePair.from(newState, action.instantiate(binding)));
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}
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if(nexts.isEmpty()){
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Map<Variable, Value> emptyBinding = CollectionUtils.newMap();
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Set<Formula> instantiatedDeletions = action.instantiateDeletions(emptyBinding);
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Set<Formula> formulaeToRemove = state.getFormulae().stream().
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filter(f-> instantiatedDeletions.stream().anyMatch(d-> equivalent(background, f,d))).collect(Collectors.toSet());
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Set<Formula> newFormulae = state.getFormulae();
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newFormulae = Sets.union(newFormulae, action.instantiateAdditions(emptyBinding));
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newFormulae = Sets.difference(newFormulae, formulaeToRemove);
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newState = State.initializeWith(newFormulae);
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nexts.add(ImmutablePair.from(newState, action.instantiate(emptyBinding)));
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}
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return Optional.of(nexts);
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}
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public static boolean equivalent(Set<Formula> background, Formula f1, Formula f2){
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if(!DEEP_EQUIVALENCE){
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return f1.equals(f2);
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}
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BiConditional biConditional = new BiConditional(f1, f2);
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return prover.prove(background,biConditional).isPresent();
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}
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public static boolean satisfies(Set<Formula> background, State state, State goal){
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96
src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java
Normal file
96
src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java
Normal file
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@ -0,0 +1,96 @@
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package edu.rpi.rair.utils;
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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.Reader;
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import edu.rpi.rair.Goal;
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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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import us.bpsm.edn.parser.Parser;
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import us.bpsm.edn.parser.Parsers;
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import us.bpsm.edn.parser.Token;
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import java.io.ByteArrayInputStream;
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import java.io.InputStream;
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import java.io.InputStreamReader;
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import java.util.*;
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/**
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* Created by naveensundarg on 1/13/17.
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*/
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public class GoalTrackingProblem {
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private final PlanningProblem planningProblem;
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private final Set<Goal> goals;
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private final Map<String, Goal> goalNameMap;
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private static final Keyword DEFINITIONS = Keyword.newKeyword("definitions");
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private static final Keyword GOALS = Keyword.newKeyword("goals");
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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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this.goalNameMap = CollectionUtils.newMap();
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for(Goal g: goals){
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goalNameMap.put(g.getName(), g);
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}
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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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List<GoalTrackingProblem> goalTrackingProblems = CollectionUtils.newEmptyList();
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Object nextValue = parser.nextValue(parseable);
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Set<Goal> goals = CollectionUtils.newEmptySet();
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while (!nextValue.equals(Token.END_OF_INPUT)) {
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Map<?, ?> goalTrackingProblemSpec = (Map<?, ?>) nextValue;
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PlanningProblem planningProblem = PlanningProblem.readFromObject(goalTrackingProblemSpec.get(DEFINITIONS));
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Map<?, ?> goalSpecs = (Map<?,?>) goalTrackingProblemSpec.get(GOALS);
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for(Map.Entry<?,?> entry : goalSpecs.entrySet()){
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String name = entry.getKey().toString();
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Map<?, ?> goalSpec = (Map<?,?>)entry.getValue();
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int priority = Math.toIntExact((Long) goalSpec.get(PRIORITY));
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Set<Formula> stateFormulae = PlanningProblem.readFrom((List<?>) goalSpec.get(STATE));
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goals.add(Goal.makeGoal(State.initializeWith(stateFormulae), priority, name));
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}
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goalTrackingProblems.add(new GoalTrackingProblem(planningProblem, goals));
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nextValue = parser.nextValue(parseable);
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}
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return goalTrackingProblems;
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}
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public PlanningProblem getPlanningProblem() {
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return planningProblem;
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}
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public Set<Goal> getGoals() {
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return goals;
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}
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public Goal getGoalNamed(String goalName) {
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return goalNameMap.get(goalName);
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}
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}
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@ -81,52 +81,7 @@ public class PlanningProblem {
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while (!nextValue.equals(Token.END_OF_INPUT)) {
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Map<?, ?> planningProblemSpec = (Map<?, ?>) nextValue;
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Set<Formula> background = readFrom((List<?>) planningProblemSpec.get(BACKGROUND));
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Set<Formula> start = readFrom((List<?>) planningProblemSpec.get(START));
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Set<Formula> goal = readFrom((List<?>) planningProblemSpec.get(GOAL));
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List<?> actionDefinitions = (List<?>) planningProblemSpec.get(ACTION);
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String name = planningProblemSpec.get(NAME).toString();
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Set<Action> actions = readActionsFrom(actionDefinitions);
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Map<String, Action> actionMap = CollectionUtils.newMap();
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actions.stream().forEach(action->{
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actionMap.put(action.getName(), action);
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});
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if(planningProblemSpec.containsKey(EXPECTED_PLANS)){
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List<?> plans = (List<?>) planningProblemSpec.get(EXPECTED_PLANS);
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Set<List<Action>> expectedActions = plans.stream().map(plan->{
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List<?> instantActionList = (List<?>) plan;
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List<Action> actionsList = instantActionList.stream().map(x -> {
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try {
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return readInstantiatedAction(actionMap, x);
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} catch (Reader.ParsingException e) {
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return null;
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}
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}).collect(Collectors.toList());
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if(actionsList.stream().anyMatch(Objects::isNull)){
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return null;
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} else {
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return actionsList;
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}
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}).collect(Collectors.toSet());
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planningProblems.add(new PlanningProblem(name, background, State.initializeWith(start),
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State.initializeWith(goal), actions, expectedActions));
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} else {
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planningProblems.add(new PlanningProblem(name, background, State.initializeWith(start),
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State.initializeWith(goal), actions));
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}
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planningProblems.add(readFromObject(nextValue));
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@ -137,6 +92,56 @@ public class PlanningProblem {
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}
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public static PlanningProblem readFromObject(Object nextValue) throws Reader.ParsingException {
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Map<?, ?> planningProblemSpec = (Map<?,?>)nextValue;
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|
||||
Set<Formula> background = readFrom((List<?>) planningProblemSpec.get(BACKGROUND));
|
||||
Set<Formula> start = readFrom((List<?>) planningProblemSpec.get(START));
|
||||
|
||||
|
||||
Set<Formula> goal = readFrom((List<?>) planningProblemSpec.get(GOAL));
|
||||
|
||||
List<?> actionDefinitions = (List<?>) planningProblemSpec.get(ACTION);
|
||||
|
||||
String name = planningProblemSpec.get(NAME).toString();
|
||||
Set<Action> actions = readActionsFrom(actionDefinitions);
|
||||
Map<String, Action> actionMap = CollectionUtils.newMap();
|
||||
|
||||
actions.stream().forEach(action->{
|
||||
actionMap.put(action.getName(), action);
|
||||
});
|
||||
if(planningProblemSpec.containsKey(EXPECTED_PLANS)){
|
||||
List<?> plans = (List<?>) planningProblemSpec.get(EXPECTED_PLANS);
|
||||
|
||||
Set<List<Action>> expectedActions = plans.stream().map(plan->{
|
||||
|
||||
List<?> instantActionList = (List<?>) plan;
|
||||
|
||||
List<Action> actionsList = instantActionList.stream().map(x -> {
|
||||
try {
|
||||
return readInstantiatedAction(actionMap, x);
|
||||
} catch (Reader.ParsingException e) {
|
||||
return null;
|
||||
}
|
||||
}).collect(Collectors.toList());
|
||||
|
||||
if(actionsList.stream().anyMatch(Objects::isNull)){
|
||||
return null;
|
||||
} else {
|
||||
return actionsList;
|
||||
}
|
||||
|
||||
}).collect(Collectors.toSet());
|
||||
|
||||
|
||||
return new PlanningProblem(name, background, State.initializeWith(start),
|
||||
State.initializeWith(goal), actions, expectedActions);
|
||||
} else {
|
||||
|
||||
return new PlanningProblem(name, background, State.initializeWith(start),
|
||||
State.initializeWith(goal), actions);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
private static Action readInstantiatedAction(Map<String, Action> actionMap, Object instantiatedActionSpec) throws Reader.ParsingException {
|
||||
|
|
@ -222,7 +227,7 @@ public class PlanningProblem {
|
|||
|
||||
}
|
||||
|
||||
private static Set<Formula> readFrom(List<?> objects) throws Reader.ParsingException {
|
||||
public static Set<Formula> readFrom(List<?> objects) throws Reader.ParsingException {
|
||||
|
||||
Set<Formula> formulae = objects.stream().map(x -> {
|
||||
try {
|
||||
|
|
|
|||
55
src/main/java/edu/rpi/rair/utils/RunDemo.java
Normal file
55
src/main/java/edu/rpi/rair/utils/RunDemo.java
Normal file
|
|
@ -0,0 +1,55 @@
|
|||
package edu.rpi.rair.utils;
|
||||
|
||||
import com.diogonunes.jcdp.color.ColoredPrinter;
|
||||
import com.diogonunes.jcdp.color.api.Ansi;
|
||||
import com.naveensundarg.shadow.prover.utils.Reader;
|
||||
import edu.rpi.rair.GoalTracker;
|
||||
import edu.rpi.rair.Planner;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* Created by naveensundarg on 1/15/17.
|
||||
*/
|
||||
public class RunDemo {
|
||||
|
||||
public static void main(String[] args) throws Reader.ParsingException {
|
||||
|
||||
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_tracking_tests.clj")));
|
||||
|
||||
|
||||
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
|
||||
|
||||
GoalTracker goalTracker = new GoalTracker(goalTrackingProblem.getPlanningProblem().getBackground(),
|
||||
goalTrackingProblem.getPlanningProblem().getStart(),
|
||||
goalTrackingProblem.getPlanningProblem().getActions());
|
||||
|
||||
|
||||
ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
|
||||
|
||||
|
||||
cp.setForegroundColor(Ansi.FColor.WHITE);
|
||||
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
|
||||
cp.println("Adding goal G1");
|
||||
cp.clear();
|
||||
|
||||
boolean res1 = goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G1"));
|
||||
|
||||
cp.setForegroundColor(Ansi.FColor.WHITE);
|
||||
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
|
||||
cp.println("Adding goal G2");
|
||||
cp.clear();
|
||||
|
||||
goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G2"));
|
||||
|
||||
cp.setForegroundColor(Ansi.FColor.WHITE);
|
||||
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
|
||||
cp.println("Adding goal G3");
|
||||
cp.clear();
|
||||
goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G3"));
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue