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This commit is contained in:
Naveen Sundar Govindarajulu 2018-03-15 00:25:49 -07:00
parent e6cfb3e654
commit fc1cbfb5ab
50 changed files with 377 additions and 155 deletions
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2
.idea/vcs.xml generated
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@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="" vcs="Git" />
<mapping directory="$PROJECT_DIR$" vcs="Git" />
</component>
</project>

2
pom.xml
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@ -4,7 +4,7 @@
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
<modelVersion>4.0.0</modelVersion>
<groupId>edu.rpi.rair</groupId>
<groupId>com.naveensundarg</groupId>
<artifactId>planner</artifactId>
<version>0.01</version>

2
snark-20120808r02/snark-interface.lisp
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@ -91,7 +91,7 @@
(snark:initialize :verbose verbose)
(if (not verbose) (snark-deverbose) )
(temp-sorts)
(snark:run-time-limit 0.05)
(snark:run-time-limit 0.5)
(snark:assert-supported t)
(snark:assume-supported t)
(snark:prove-supported t)

6
src/main/java/edu/rpi/rair/Action.java → src/main/java/com/naveensundarg/planner/Action.java
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@ -1,4 +1,4 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.shadow.prover.core.Logic;
import com.naveensundarg.shadow.prover.representations.formula.And;
@ -32,7 +32,7 @@ public class Action {
private final Compound shorthand;
private 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) {
this.name = name;
this.preconditions = preconditions;
@ -58,7 +58,7 @@ public class Action {
this.trivial = computeTrivialOrNot();
}
private Action(String name, Set<Formula> preconditions, Set<Formula> additions,
public Action(String name, Set<Formula> preconditions, Set<Formula> additions,
Set<Formula> deletions, List<Variable> freeVariables,
Compound shorthand
) {

23
src/main/java/com/naveensundarg/planner/Context.java Normal file
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@ -0,0 +1,23 @@
package com.naveensundarg.planner;
import java.util.List;
public class Context {
private final List<PlanMethod> planMethods;
private final boolean workFromScratch;
public Context(List<PlanMethod> planMethods, boolean workFromScratch) {
this.planMethods = planMethods;
this.workFromScratch = workFromScratch;
}
public List<PlanMethod> getPlanMethods() {
return planMethods;
}
public boolean isWorkFromScratch() {
return workFromScratch;
}
}

22
src/main/java/edu/rpi/rair/ContextNormPlanner.java → src/main/java/com/naveensundarg/planner/ContextNormPlanner.java
View file

@ -1,9 +1,8 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.planner.utils.PlanningProblem;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import edu.rpi.rair.utils.PlanningProblem;
import java.util.List;
import java.util.Optional;
import java.util.Set;
@ -19,7 +18,22 @@ public class ContextNormPlanner implements Planner {
@Override
public Optional<Set<Plan>> plan(PlanningProblem problem, Set<Formula> background, Set<Action> actions, State start, State goal) {
List<Plan> methods = problem.getPlanMethods();
Optional<Context> contextOpt = problem.getContextOpt();
if(contextOpt.isPresent()){
depthFirstPlanner.setWORK_FROM_SCRATCH(contextOpt.get().isWorkFromScratch());
return depthFirstPlanner.plan(problem, background, actions, start, goal);
} else{
return depthFirstPlanner.plan(problem, background, actions, start, goal);
}
}

28
src/main/java/edu/rpi/rair/DepthFirstPlanner.java → src/main/java/com/naveensundarg/planner/DepthFirstPlanner.java
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@ -1,13 +1,13 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.planner.utils.Commons;
import com.naveensundarg.planner.utils.PlanningProblem;
import com.naveensundarg.planner.utils.Visualizer;
import com.naveensundarg.shadow.prover.core.proof.Justification;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Pair;
import com.naveensundarg.shadow.prover.utils.Sets;
import edu.rpi.rair.utils.Commons;
import edu.rpi.rair.utils.PlanningProblem;
import edu.rpi.rair.utils.Visualizer;
import java.util.*;
import java.util.function.Function;
@ -22,7 +22,21 @@ public class DepthFirstPlanner implements Planner {
private static int MAX_DEPTH = 5;
private static boolean EXHAUSTIVE_TILL_MAX_DEPTH = true;
private static boolean USE_METHODS = true;
private boolean USE_METHODS, WORK_FROM_SCRATCH;
public DepthFirstPlanner(){
USE_METHODS = true;
WORK_FROM_SCRATCH = true;
}
public boolean isWORK_FROM_SCRATCH() {
return WORK_FROM_SCRATCH;
}
public void setWORK_FROM_SCRATCH(boolean WORK_FROM_SCRATCH) {
this.WORK_FROM_SCRATCH = WORK_FROM_SCRATCH;
}
public static int getMaxDepth() {
return MAX_DEPTH;
@ -79,6 +93,10 @@ public class DepthFirstPlanner implements Planner {
}
}
if(!WORK_FROM_SCRATCH){
return Optional.empty();
}
if (!EXHAUSTIVE_TILL_MAX_DEPTH) {

2
src/main/java/edu/rpi/rair/Goal.java → src/main/java/com/naveensundarg/planner/Goal.java
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@ -1,4 +1,4 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import java.util.concurrent.atomic.AtomicInteger;

6
src/main/java/edu/rpi/rair/GoalTracker.java → src/main/java/com/naveensundarg/planner/GoalTracker.java
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@ -1,13 +1,11 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.planner.utils.PlanningProblem;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Pair;
import com.naveensundarg.shadow.prover.utils.Sets;
import edu.rpi.rair.utils.PlanningProblem;
import java.util.Comparator;
import java.util.List;
import java.util.Optional;
import java.util.Set;

5
src/main/java/edu/rpi/rair/Inducer.java → src/main/java/com/naveensundarg/planner/Inducer.java
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@ -1,7 +1,6 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import edu.rpi.rair.Plan;
import edu.rpi.rair.utils.PlanningProblem;
import com.naveensundarg.planner.utils.PlanningProblem;
/**
* Created by naveensundarg on 12/19/17.

8
src/main/java/edu/rpi/rair/Operations.java → src/main/java/com/naveensundarg/planner/Operations.java
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@ -1,5 +1,6 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.planner.utils.Visualizer;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.shadow.prover.core.SnarkWrapper;
import com.naveensundarg.shadow.prover.core.proof.Justification;
@ -13,7 +14,6 @@ import com.naveensundarg.shadow.prover.utils.ImmutablePair;
import com.naveensundarg.shadow.prover.utils.Pair;
import com.naveensundarg.shadow.prover.utils.Sets;
import edu.rpi.rair.utils.Visualizer;
import org.apache.commons.lang3.tuple.Triple;
import java.util.List;
@ -23,8 +23,6 @@ import java.util.Set;
import java.util.concurrent.*;
import java.util.stream.Collectors;
import static edu.rpi.rair.State.FALSE;
/**
* Created by naveensundarg on 1/13/17.
*/
@ -314,7 +312,7 @@ public class Operations {
public static boolean conflicts(Set<Formula> background, State state1, State state2) {
return proveCached(Sets.union(background, Sets.union(state1.getFormulae(), state2.getFormulae())), FALSE).isPresent();
return proveCached(Sets.union(background, Sets.union(state1.getFormulae(), state2.getFormulae())), State.FALSE).isPresent();
}

4
src/main/java/edu/rpi/rair/Plan.java → src/main/java/com/naveensundarg/planner/Plan.java
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@ -1,8 +1,8 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.planner.utils.Visualizer;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import edu.rpi.rair.utils.Visualizer;
import java.util.List;
import java.util.Set;

11
src/main/java/edu/rpi/rair/PlanMethod.java → src/main/java/com/naveensundarg/planner/PlanMethod.java
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@ -1,5 +1,6 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.planner.utils.PlanningProblem;
import com.naveensundarg.shadow.prover.representations.formula.And;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.representations.value.Compound;
@ -8,16 +9,8 @@ import com.naveensundarg.shadow.prover.representations.value.Variable;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Reader;
import com.naveensundarg.shadow.prover.utils.Sets;
import edu.rpi.rair.utils.PlanningProblem;
import us.bpsm.edn.Keyword;
import us.bpsm.edn.Symbol;
import us.bpsm.edn.parser.Parseable;
import us.bpsm.edn.parser.Parser;
import us.bpsm.edn.parser.Parsers;
import java.io.StringReader;
import java.util.*;
import java.util.stream.Collector;
import java.util.stream.Collectors;
/**

3
src/main/java/edu/rpi/rair/PlanSketch.java → src/main/java/com/naveensundarg/planner/PlanSketch.java
View file

@ -1,8 +1,7 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Sets;
import java.util.List;
import java.util.Set;

5
src/main/java/edu/rpi/rair/Planner.java → src/main/java/com/naveensundarg/planner/Planner.java
View file

@ -1,9 +1,8 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.planner.utils.PlanningProblem;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import edu.rpi.rair.utils.PlanningProblem;
import java.util.List;
import java.util.Optional;
import java.util.Set;

5
src/main/java/edu/rpi/rair/State.java → src/main/java/com/naveensundarg/planner/State.java
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@ -1,15 +1,12 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.shadow.prover.core.SnarkWrapper;
import com.naveensundarg.shadow.prover.representations.formula.And;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Reader;
import com.naveensundarg.shadow.prover.utils.Sets;
import java.util.Set;
import java.util.stream.Collectors;
/**
* Created by naveensundarg on 1/13/17.

9
src/main/java/edu/rpi/rair/inducers/SimpleInducer.java → src/main/java/com/naveensundarg/planner/inducers/SimpleInducer.java
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@ -1,14 +1,13 @@
package edu.rpi.rair.inducers;
package com.naveensundarg.planner.inducers;
import com.naveensundarg.planner.*;
import com.naveensundarg.planner.utils.Commons;
import com.naveensundarg.planner.utils.PlanningProblem;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.representations.value.Compound;
import com.naveensundarg.shadow.prover.representations.value.Value;
import com.naveensundarg.shadow.prover.representations.value.Variable;
import com.naveensundarg.shadow.prover.utils.Pair;
import com.naveensundarg.shadow.prover.utils.Sets;
import edu.rpi.rair.*;
import edu.rpi.rair.utils.Commons;
import edu.rpi.rair.utils.PlanningProblem;
import java.util.*;
import java.util.function.Function;

28
src/main/java/edu/rpi/rair/utils/Commons.java → src/main/java/com/naveensundarg/planner/utils/Commons.java
View file

@ -1,23 +1,17 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import clojure.lang.Obj;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.naveensundarg.shadow.prover.representations.formula.And;
import com.naveensundarg.shadow.prover.representations.formula.Existential;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.representations.formula.Universal;
import com.naveensundarg.shadow.prover.representations.value.Value;
import com.naveensundarg.shadow.prover.representations.value.Variable;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Sets;
import edu.rpi.rair.State;
import us.bpsm.edn.parser.Parseable;
import java.util.ArrayList;
import java.util.Map;
import java.util.Set;
import java.util.function.BiFunction;
import java.util.function.Consumer;
import java.util.function.Function;
import java.util.stream.Collectors;
/**
@ -75,8 +69,12 @@ public class Commons {
return combinedMap;
}
static ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
public static<U, V, W> Object runAndTime(BiFunction<U, V, W> function, U u, V v, String message){
cp.setAttribute(Ansi.Attribute.BOLD);
long start, end;
start = System.currentTimeMillis();
@ -86,8 +84,18 @@ public class Commons {
end = System.currentTimeMillis();
System.out.println("Timing for: " + message + (end - start)/1000 + " s");
cp.println("Timing for: " + message + (end - start)/1000 + " s");
if(w!=null){
cp.println(w);
} else {
cp.setForegroundColor(Ansi.FColor.RED);
cp.println("COULD NOT PLAN");
}
cp.clear();
return w;
}

2
src/main/java/edu/rpi/rair/utils/FrozenPrinter.java → src/main/java/com/naveensundarg/planner/utils/FrozenPrinter.java
View file

@ -1,4 +1,4 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.AbstractColoredPrinter;

11
src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java → src/main/java/com/naveensundarg/planner/utils/GoalTrackingProblem.java
View file

@ -1,23 +1,22 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.Goal;
import edu.rpi.rair.PlanMethod;
import edu.rpi.rair.State;
import com.naveensundarg.planner.Goal;
import com.naveensundarg.planner.PlanMethod;
import com.naveensundarg.planner.State;
import us.bpsm.edn.Keyword;
import us.bpsm.edn.parser.Parseable;
import us.bpsm.edn.parser.Parser;
import us.bpsm.edn.parser.Parsers;
import us.bpsm.edn.parser.Token;
import java.io.ByteArrayInputStream;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.util.*;
import static edu.rpi.rair.utils.Reader.readPlanMethodsFrom;
import static com.naveensundarg.planner.utils.Reader.readPlanMethodsFrom;
/**
* Created by naveensundarg on 1/13/17.

15
src/main/java/com/naveensundarg/planner/utils/IndefiniteAction.java Normal file
View file

@ -0,0 +1,15 @@
package com.naveensundarg.planner.utils;
import com.naveensundarg.planner.Action;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.representations.value.Variable;
import java.util.List;
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);
}
}

40
src/main/java/edu/rpi/rair/utils/LearningSystem.java → src/main/java/com/naveensundarg/planner/utils/LearningSystem.java
View file

@ -1,23 +1,18 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.google.common.collect.Sets;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.shadow.prover.core.SnarkWrapper;
import com.naveensundarg.planner.DepthFirstPlanner;
import com.naveensundarg.planner.GoalTracker;
import com.naveensundarg.planner.Plan;
import com.naveensundarg.planner.Planner;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.*;
import edu.rpi.rair.inducers.SimpleInducer;
import org.apache.commons.lang3.tuple.Triple;
import org.apache.commons.lang3.tuple.Triple;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import java.util.Set;
import java.util.function.BiConsumer;
import java.util.function.BiFunction;
import java.util.function.Function;
import java.util.stream.Collectors;
/**
* Created by naveensundarg on 1/15/17.
@ -37,7 +32,7 @@ public class LearningSystem {
RunDemo.planningProblemWarmUp();
Visualizer.setShouldVisualize(false);
Visualizer.setShouldVisualize(true);
List<GoalTrackingProblem> goalTrackingProblemList1 = (GoalTrackingProblem.readFromFiles(Sandbox.class.getResourceAsStream("../problems/seriated/seriated_challenge_1.clj"),
Sandbox.class.getResourceAsStream("../problems/seriated/methods.clj")));
@ -69,10 +64,25 @@ public class LearningSystem {
// Plan plan1 = goalTracker1.adoptGoal(goalTrackingProblem1.getGoalNamed("G1")).get();
//Plan plan2 = goalTracker2.adoptGoal(goalTrackingProblem2.getGoalNamed("G1")).get();
BiFunction<GoalTracker, GoalTrackingProblem, Plan> run = (goalTracker, goalTrackingProblem) -> goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G1")).get();
BiFunction<GoalTracker, GoalTrackingProblem, Plan> run = (goalTracker, goalTrackingProblem) -> {
Optional<Plan> planOptional = goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G1"));
System.out.println(Commons.runAndTime(run, goalTracker1, goalTrackingProblem1, "Problem 1"));
System.out.println(Commons.runAndTime(run, goalTracker2, goalTrackingProblem2, "Problem 2"));
if(planOptional.isPresent()){
return planOptional.get();
}
else {
System.out.println("Could not find a plan");
return null;
}
};
// Object plan1 = (Commons.runAndTime(run, goalTracker1, goalTrackingProblem1, "Problem 1"));
Object plan2 = (Commons.runAndTime(run, goalTracker2, goalTrackingProblem2, "Problem 2"));
Visualizer.unspool(10);
}

89
src/main/java/edu/rpi/rair/utils/PlanningProblem.java → src/main/java/com/naveensundarg/planner/utils/PlanningProblem.java
View file

@ -1,16 +1,15 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import clojure.lang.Obj;
import com.naveensundarg.planner.Context;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.representations.value.Compound;
import com.naveensundarg.shadow.prover.representations.value.Value;
import com.naveensundarg.shadow.prover.representations.value.Variable;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Reader;
import com.naveensundarg.shadow.prover.utils.Sets;
import edu.rpi.rair.Action;
import edu.rpi.rair.PlanMethod;
import edu.rpi.rair.State;
import com.naveensundarg.planner.Action;
import com.naveensundarg.planner.PlanMethod;
import com.naveensundarg.planner.State;
import us.bpsm.edn.Keyword;
import us.bpsm.edn.Symbol;
import us.bpsm.edn.parser.Parseable;
@ -21,10 +20,11 @@ import us.bpsm.edn.parser.Token;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.io.StringReader;
import java.security.Key;
import java.util.*;
import java.util.stream.Collectors;
import static com.naveensundarg.planner.utils.Reader.readPlanMethodFrom;
/**
* Created by naveensundarg on 1/13/17.
*/
@ -41,6 +41,13 @@ public class PlanningProblem {
private Set<Value> avoidIfPossible;
private final List<PlanMethod> planMethods;
private final Optional<Context> contextOpt;
private static final Keyword CONTEXT = Keyword.newKeyword("context");
private static final Keyword WORK_FROM_SCRATCH = Keyword.newKeyword("work-from-scratch");
private static final Keyword PLAN_METHODS = Keyword.newKeyword("plan-methods");
private static final Keyword BACKGROUND = Keyword.newKeyword("background");
private static final Keyword START = Keyword.newKeyword("start");
private static final Keyword GOAL = Keyword.newKeyword("goal");
@ -67,6 +74,22 @@ public class PlanningProblem {
this.avoidIfPossible = avoidIfPossible;
this.planMethods = CollectionUtils.newEmptyList();
this.expectedActionSequencesOpt = Optional.empty();
this.contextOpt = Optional.empty();
}
private PlanningProblem(Optional<Context> contextOpt, String name, Set<Formula> background, State start, State goal, Set<Action> actions, Set<Value> avoidIfPossible) {
this.background = background;
this.start = start;
this.actions = actions;
this.goal = goal;
this.name = name;
this.actionMap = CollectionUtils.newMap();
this.avoidIfPossible = avoidIfPossible;
this.planMethods = CollectionUtils.newEmptyList();
this.expectedActionSequencesOpt = Optional.empty();
this.contextOpt = contextOpt;
}
@ -82,6 +105,31 @@ public class PlanningProblem {
this.planMethods = CollectionUtils.newEmptyList();
this.expectedActionSequencesOpt = Optional.of(expectedActionSequences);
this.contextOpt = Optional.empty();
}
public static List<PlanningProblem> readFromString(String input) throws Reader.ParsingException {
Parseable parseable = Parsers.newParseable(new StringReader(input));
Parser parser = Parsers.newParser(Parsers.defaultConfiguration());
List<PlanningProblem> planningProblems = CollectionUtils.newEmptyList();
Object nextValue = parser.nextValue(parseable);
while (!nextValue.equals(Token.END_OF_INPUT)) {
planningProblems.add(readFromObject(nextValue));
nextValue = parser.nextValue(parseable);
}
return planningProblems;
}
public static List<PlanningProblem> readFromFile(InputStream inputStream) throws Reader.ParsingException {
@ -118,7 +166,9 @@ public class PlanningProblem {
List<?> actionDefinitions = (List<?>) planningProblemSpec.get(ACTION);
System.out.println(planningProblemSpec.get(NAME));
String name = planningProblemSpec.get(NAME).toString();
Set<Action> actions = readActionsFrom(actionDefinitions);
Map<String, Action> actionMap = CollectionUtils.newMap();
@ -126,6 +176,25 @@ public class PlanningProblem {
actionMap.put(action.getName(), action);
});
Optional<Context> contextOpt = Optional.empty();
if(planningProblemSpec.containsKey(CONTEXT)){
Map<?, ?> contextSpec = (Map<?, ?>) planningProblemSpec.get(CONTEXT);
boolean workFromScratch = contextSpec.get(WORK_FROM_SCRATCH).toString().equals("true");
List<?> planMethodSpecs = (List<?> )contextSpec.get(PLAN_METHODS);
List<PlanMethod> planMethods = CollectionUtils.newEmptyList();
if(planMethodSpecs!=null){
for(Object planMethodSpec: (List<?>) planMethodSpecs){
planMethods.add(readPlanMethodFrom((List<?>) planMethodSpec));
}
}
contextOpt = Optional.of(new Context(planMethods, workFromScratch));
}
if(planningProblemSpec.containsKey(EXPECTED_PLANS)){
List<?> plans = (List<?>) planningProblemSpec.get(EXPECTED_PLANS);
@ -150,11 +219,12 @@ public class PlanningProblem {
}).collect(Collectors.toSet());
return new PlanningProblem(name, background, State.initializeWith(start),
State.initializeWith(goal), actions, avoidIfPossible, expectedActions);
} else {
return new PlanningProblem(name, background, State.initializeWith(start),
return new PlanningProblem(contextOpt, name, background, State.initializeWith(start),
State.initializeWith(goal),actions, avoidIfPossible);
}
}
@ -343,6 +413,9 @@ public class PlanningProblem {
return avoidIfPossible;
}
public Optional<Context> getContextOpt() {
return contextOpt;
}
public List<PlanMethod> getPlanMethods() {
return planMethods;

2
src/main/java/edu/rpi/rair/utils/ProceduralAttachment.java → src/main/java/com/naveensundarg/planner/utils/ProceduralAttachment.java
View file

@ -1,4 +1,4 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import com.naveensundarg.shadow.prover.representations.formula.Formula;

5
src/main/java/edu/rpi/rair/utils/Reader.java → src/main/java/com/naveensundarg/planner/utils/Reader.java
View file

@ -1,10 +1,10 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.representations.value.Compound;
import com.naveensundarg.shadow.prover.representations.value.Variable;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import edu.rpi.rair.PlanMethod;
import com.naveensundarg.planner.PlanMethod;
import us.bpsm.edn.Keyword;
import us.bpsm.edn.Symbol;
import us.bpsm.edn.parser.Parseable;
@ -17,7 +17,6 @@ import java.io.StringReader;
import java.util.List;
import java.util.Map;
import java.util.Set;
import java.util.stream.Collectors;
public class Reader {

24
src/main/java/edu/rpi/rair/utils/RunDemo.java → src/main/java/com/naveensundarg/planner/utils/RunDemo.java
View file

@ -1,25 +1,21 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.google.common.collect.Sets;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.planner.Goal;
import com.naveensundarg.planner.GoalTracker;
import com.naveensundarg.planner.Inducer;
import com.naveensundarg.planner.Plan;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.shadow.prover.core.SnarkWrapper;
import com.naveensundarg.shadow.prover.utils.Problem;
import com.naveensundarg.shadow.prover.utils.ProblemReader;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.*;
import edu.rpi.rair.inducers.SimpleInducer;
import edu.rpi.rair.utils.GoalTrackingProblem;
import com.naveensundarg.planner.inducers.SimpleInducer;
import org.apache.commons.lang3.tuple.Triple;
import javax.swing.*;
import java.awt.*;
import java.lang.reflect.Method;
import java.util.*;
import java.util.List;
import java.util.function.BiConsumer;
import java.util.function.BiFunction;
import java.util.stream.Collectors;
/**
@ -61,7 +57,7 @@ public class RunDemo {
Visualizer.setShouldVisualize(false);
runProblem("../problems/seriated/seriated_challenge_1.clj");
runProblem("../problems/heroism/setup.clj");
// runProblem("seriated_challenge_2.clj");
@ -80,9 +76,11 @@ public class RunDemo {
long start = System.currentTimeMillis();
Goal g1 = goalTrackingProblem.getGoalNamed("G1");
Goal g2 = goalTrackingProblem.getGoalNamed("G2");
tryAndAddGoal(g1, goalTracker);
tryAndAddGoal(g1, goalTracker);
tryAndAddGoal(g2, goalTracker);
long end = System.currentTimeMillis();

5
src/main/java/edu/rpi/rair/utils/Sandbox.java → src/main/java/com/naveensundarg/planner/utils/Sandbox.java
View file

@ -1,7 +1,6 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import edu.rpi.rair.PlanMethod;
import edu.rpi.rair.Planner;
import com.naveensundarg.planner.PlanMethod;
import java.util.List;

2
src/main/java/edu/rpi/rair/utils/Visualizer.java → src/main/java/com/naveensundarg/planner/utils/Visualizer.java
View file

@ -1,4 +1,4 @@
package edu.rpi.rair.utils;
package com.naveensundarg.planner.utils;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;

0
src/main/resources/edu/rpi/rair/completeness_problems.clj → src/main/resources/com/naveensundarg/planner/completeness_problems.clj
View file

0
src/main/resources/edu/rpi/rair/debug.clj → src/main/resources/com/naveensundarg/planner/debug.clj
View file

0
src/main/resources/edu/rpi/rair/file.clj → src/main/resources/com/naveensundarg/planner/file.clj
View file

0
src/main/resources/edu/rpi/rair/problems/heinz/heinz_challenge.clj → src/main/resources/com/naveensundarg/planner/problems/heinz/heinz_challenge.clj
View file

27
src/main/resources/com/naveensundarg/planner/problems/heroism/setup.clj Normal file
View file

@ -0,0 +1,27 @@
{:definitions
{:name "heroism"
:background [(forall [?x ?y]
(iff (and (Inside ?x ?y) (OnFire ?y))
(not (Safe ?x))))
(forall [?x ?y]
(iff (not (Inside ?x ?y))
(Outside ?x ?y)))
(not (= self stranger))]
:start [(Inside stranger building)
(Outside self building)]
:actions [(define-action movePersonFrom [?person ?building]
{:preconditions [(Inside self ?building)]
:additions [(Outside stranger ?building) (Outside self ?building)]
:deletions [(Inside stranger ?building) (Inside self ?building)]})
(define-action moveInside [?building]
{:preconditions [(Outside self ?building)]
:additions [(Inside self ?building)]
:deletions [(Outside self ?building)]})]}
:goals {G1 {:priority 5.0
:state [(Safe self)]}
G2 {:priority 1.0
:state [(Safe stranger)]}}}

0
src/main/resources/edu/rpi/rair/problems/prisoner/goal_management_1.clj → src/main/resources/com/naveensundarg/planner/problems/prisoner/goal_management_1.clj
View file

0
src/main/resources/edu/rpi/rair/problems/prisoner/goal_management_2.clj → src/main/resources/com/naveensundarg/planner/problems/prisoner/goal_management_2.clj
View file

0
src/main/resources/edu/rpi/rair/problems/prisoner/goal_management_3.clj → src/main/resources/com/naveensundarg/planner/problems/prisoner/goal_management_3.clj
View file

0
src/main/resources/edu/rpi/rair/problems/prisoner/goal_management_4.clj → src/main/resources/com/naveensundarg/planner/problems/prisoner/goal_management_4.clj
View file

0
src/main/resources/edu/rpi/rair/problems/prisoner/goal_management_5.clj → src/main/resources/com/naveensundarg/planner/problems/prisoner/goal_management_5.clj
View file

0
src/main/resources/edu/rpi/rair/problems/prisoner/goal_management_6.clj → src/main/resources/com/naveensundarg/planner/problems/prisoner/goal_management_6.clj
View file

0
src/main/resources/com/naveensundarg/planner/problems/seriated/methods.clj Normal file
View file

20
src/main/resources/edu/rpi/rair/problems/seriated/seriated_challenge_1.clj → src/main/resources/com/naveensundarg/planner/problems/seriated/seriated_challenge_1.clj
View file

@ -20,7 +20,9 @@
;;; Sizes of cups
(< (size a) (size b))
(< (size b) (size c))
(< (size c) (size d))]
(< (size c) (size d))
]
:start [(In a b)
@ -30,6 +32,13 @@
:goal [ ]
: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)]})]}
:actions [(define-action placeInside [?x ?y]
{:preconditions [(< (size ?x) (size ?y))
(Empty ?y)]
@ -41,13 +50,10 @@
:additions [(Empty ?y)]
: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)]}}

5
src/main/resources/edu/rpi/rair/problems/seriated/seriated_challenge_2.clj → src/main/resources/com/naveensundarg/planner/problems/seriated/seriated_challenge_2.clj
View file

@ -49,11 +49,14 @@
:additions [(Empty ?y)]
:deletions [(In ?x ?y)]} )]
:context { :work-from-scratch false
}
}
:goals {G1 {:priority 1.0
:goals {G1 {:priority 1.0
:state [(In a b)

55
src/main/resources/com/naveensundarg/planner/problems/seriated/snippet_pddl.clj Normal file
View file

@ -0,0 +1,55 @@
{
:background [
;;; Sizes of cups
(< (size (cup 1)) (size (cup 1)))
(< (size (cup 1)) (size (cup 2)))
(< (size (cup 1)) (size (cup 3)))
(< (size (cup 99)) (size (cup 100)))
]
}
(exist [?y] (and (isColor ?y PURPLE)
(isShape ?y CUBE)))
(cup 1)
(cup 2)
(cup 100)
:background [ ;; Transitivity of <
(forall [?x ?y ?z]
(if (and (< (size ?x) (size ?y))
(< (size ?y) (size ?z)))
(< (size ?x) (size ?z))))
;; Asymmetry of <
(forall [?x ?y]
(iff (< (size ?x) (size ?y))
(not (< (size ?y) (size ?x)))))
;; If there is something inside a cup, it is not empty.
(forall [?y]
(if (exists [?x] (In ?x ?y))
(not (Empty ?y))))
;;; Sizes of cups
:ARITHMETIC_AXIOMS
(forall [?number] (= number? (size (cup ?number))))
]

0
src/main/resources/edu/rpi/rair/self_deception.clj → src/main/resources/com/naveensundarg/planner/self_deception.clj
View file

20
src/main/resources/com/naveensundarg/planner/temp.clj Normal file
View file

@ -0,0 +1,20 @@
;; j is an A
;; all A are afraid of B
;; what is j afraid of?
(seq P 2 3 A)
(seq Q 2 3 B)
(seq all A are afraid of M)
(seq all B are afraid of N)
(Goal (seq What is P afraid of?))
;;;
(action A)
(if (and (seq ?individual is a ?class1)
(seq all ?class1 are afraid of ?class2)
(Goal (seq what is ?individual afraid of)))
(Action ?class2))
;;; given background B, goal G and plan P=>
;; let sub(B) be all the formulae containing individuals in G and P. And let it be closed wrt to inviduals.
;; then (if (and sub(B) G) variablize(P)) is a hypothesis.

7
src/main/resources/edu/rpi/rair/problems/seriated/methods.clj
View file

@ -1,7 +0,0 @@
;; (removeFrom ?x ?y) => "Remove ?x from ?y"
;; (placeInside ?x ?y) ==> "Place ?x inside ?y"
(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)]})

16
src/main/resources/edu/rpi/rair/temp.clj
View file

@ -1,16 +0,0 @@
{G1 {:priority 6.0
:state [(not (open (door room1)))]}
G2 {:priority 6.0
:state [(in prisoner room1)]}
G3 {:priority 6.0
:state [(forall [?room]
(if (in prisoner ?room)
(in self ?room)))]}
G4 {:priority 3.0
:state [(in prisoner room2)
(in self room2)]}
G5 {:priority 2.0
:state [(interrogates commander prisoner)]}}

6
src/test/java/edu/rpi/rair/DepthFirstPlannerTest.java → src/test/java/com/naveensundarg/planner/DepthFirstPlannerTest.java
View file

@ -1,7 +1,7 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.naveensundarg.planner.utils.PlanningProblem;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.utils.PlanningProblem;
import org.testng.Assert;
import org.testng.annotations.BeforeMethod;
import org.testng.annotations.DataProvider;
@ -12,8 +12,6 @@ import java.util.Optional;
import java.util.Set;
import java.util.stream.Collectors;
import static org.testng.Assert.*;
/**
* Created by naveensundarg on 1/13/17.
*/

6
src/test/java/edu/rpi/rair/GoalTrackerTest.java → src/test/java/com/naveensundarg/planner/GoalTrackerTest.java
View file

@ -1,14 +1,12 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.naveensundarg.planner.utils.GoalTrackingProblem;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.utils.GoalTrackingProblem;
import java.util.List;
import static org.testng.Assert.*;
/**
* Created by naveensundarg on 1/15/17.
*/

4
src/test/java/edu/rpi/rair/HeinzGoalTrackerTest.java → src/test/java/com/naveensundarg/planner/HeinzGoalTrackerTest.java
View file

@ -1,9 +1,9 @@
package edu.rpi.rair;
package com.naveensundarg.planner;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.naveensundarg.planner.utils.GoalTrackingProblem;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.utils.GoalTrackingProblem;
import java.util.List;