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Angelic_search #940

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merged 8 commits into from Jul 22, 2018
Merged

Angelic_search #940

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8c2e413
Added angelic search to planning code
MariannaSpyrakou Jul 13, 2018
7368b9b
Added unit tests for angelic search
MariannaSpyrakou Jul 13, 2018
dc41ef8
Created notebook planning_angelic_search.ipynb
MariannaSpyrakou Jul 13, 2018
7083250
Changes in refinements and tests
MariannaSpyrakou Jul 18, 2018
ff7763d
Modification in test_planning.py
MariannaSpyrakou Jul 18, 2018
dda1eae
Merge branch 'master' into angelic
MariannaSpyrakou Jul 21, 2018
0604602
Added comments in making progress and angelic action
MariannaSpyrakou Jul 21, 2018
4b8fde0
Changes in planning_angelic.ipynb notebook
MariannaSpyrakou Jul 21, 2018
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177 changes: 168 additions & 9 deletions tests/test_planning.py
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Expand Up @@ -283,17 +283,176 @@ def test_job_shop_problem():

def test_refinements():

library = {'HLA': ['Go(Home,SFO)','Taxi(Home, SFO)'],
'steps': [['Taxi(Home, SFO)'],[]],
'precond': [['At(Home)'],['At(Home)']],
'effect': [['At(SFO)'],['At(SFO)'],['~At(Home)'],['~At(Home)']]}
library = {
'HLA': ['Go(Home,SFO)', 'Go(Home,SFO)', 'Drive(Home, SFOLongTermParking)', 'Shuttle(SFOLongTermParking, SFO)', 'Taxi(Home, SFO)'],
'steps': [['Drive(Home, SFOLongTermParking)', 'Shuttle(SFOLongTermParking, SFO)'], ['Taxi(Home, SFO)'], [], [], []],
'precond': [['At(Home)', 'Have(Car)'], ['At(Home)'], ['At(Home)', 'Have(Car)'], ['At(SFOLongTermParking)'], ['At(Home)']],
'effect': [['At(SFO)'], ['At(SFO)'], ['At(SFOLongTermParking)'], ['At(SFO)'], ['At(SFO)'], ['~At(Home)'], ['~At(Home)'], ['~At(Home)'], ['~At(SFOLongTermParking)'], ['~At(Home)']] }


go_SFO = HLA('Go(Home,SFO)', precond='At(Home)', effect='At(SFO) & ~At(Home)')
taxi_SFO = HLA('Go(Home,SFO)', precond='At(Home)', effect='At(SFO) & ~At(Home)')
taxi_SFO = HLA('Taxi(Home,SFO)', precond='At(Home)', effect='At(SFO) & ~At(Home)')

prob = Problem('At(Home)', 'At(SFO)', [go_SFO, taxi_SFO])
prob = Problem('At(Home) & Have(Car)', 'At(SFO)', [go_SFO, taxi_SFO])

result = [i for i in Problem.refinements(go_SFO, prob, library)]
assert(len(result) == 1)
assert(result[0].name == 'Taxi')
assert(result[0].args == (expr('Home'), expr('SFO')))

for sequence in Problem.refinements(go_SFO, prob, library):
print ('ref',[(s.name, s.args) for s in sequence])

assert(len(result) == 2)
assert(result[0][0].name == 'Drive')
assert(result[0][0].args == (expr('Home'), expr('SFOLongTermParking')))
assert(result[0][1].name == 'Shuttle')
assert(result[0][1].args == (expr('SFOLongTermParking'), expr('SFO')))
assert(result[1][0].name == 'Taxi')
assert(result[1][0].args == expr('Home'), expr('SFO'))


def test_convert_angelic_HLA():
"""
Converts angelic HLA's into expressions that correspond to their actions
~ : Delete (Not)
$+ : Possibly add (PosYes)
$-: Possibly delete (PosNo)
$$: Possibly add / delete (PosYesNo)
"""
ang1 = Angelic_HLA('Test', precond = None, effect = '~A')
ang2 = Angelic_HLA('Test', precond = None, effect = '$+A')
ang3 = Angelic_HLA('Test', precond = None, effect = '$-A')
ang4 = Angelic_HLA('Test', precond = None, effect = '$$A')

assert(ang1.convert(ang1.effect) == [expr('NotA')])
assert(ang2.convert(ang2.effect) == [expr('PosYesA')])
assert(ang3.convert(ang3.effect) == [expr('PosNotA')])
assert(ang4.convert(ang4.effect) == [expr('PosYesNotA')])


def test_is_primitive():
"""
Tests if a plan is consisted out of primitive HLA's (angelic HLA's)
"""
library = {
'HLA': ['Go(Home,SFO)', 'Go(Home,SFO)', 'Drive(Home, SFOLongTermParking)', 'Shuttle(SFOLongTermParking, SFO)', 'Taxi(Home, SFO)'],
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Since several test functions use this same library. Define the library once (as a global variable) at the beginining of the angelic_search tests and share that definition across the different tests.

'steps': [['Drive(Home, SFOLongTermParking)', 'Shuttle(SFOLongTermParking, SFO)'], ['Taxi(Home, SFO)'], [], [], []],
'precond': [['At(Home)', 'Have(Car)'], ['At(Home)'], ['At(Home)', 'Have(Car)'], ['At(SFOLongTermParking)'], ['At(Home)']],
'effect': [['At(SFO)'], ['At(SFO)'], ['At(SFOLongTermParking)'], ['At(SFO)'], ['At(SFO)'], ['~At(Home)'], ['~At(Home)'], ['~At(Home)'], ['~At(SFOLongTermParking)'], ['~At(Home)']] }

angelic_opt_description = Angelic_HLA('Go(Home, SFO)', precond = 'At(Home)', effect ='$+At(SFO) & $-At(Home)' )
angelic_pes_description = Angelic_HLA('Go(Home, SFO)', precond = 'At(Home)', effect ='$+At(SFO) & ~At(Home)' )
taxi_SFO = HLA('Taxi(Home, SFO)', precond = 'At(Home)', effect = 'At(SFO)')
drive_SFOLongTermParking = HLA('Drive(Home,SFOLongTermParking)', precond='At(Home) & Car', effect='At(SFOLongTermParking) & ~At(Home)')
shuttle_SFO = HLA('Shuttle(SFOLongTermParking,SFO)', precond = 'At(SFOLongTermParking)', effect = 'At(SFO) & ~At(SFOLongTermParking)')

plan1 = Angelic_Node('At(Home)', None, [angelic_opt_description], [angelic_pes_description])
plan2 = Angelic_Node('At(Home)', None, [taxi_SFO])
plan3 = Angelic_Node('At(Home)', None, [drive_SFOLongTermParking, shuttle_SFO])

assert(not Problem.is_primitive(plan1, library))
assert(Problem.is_primitive(plan2, library))

assert(Problem.is_primitive(plan3, library))


def test_angelic_action():
"""
Finds the HLA actions that correspond to the HLA actions with angelic semantics

h1 : precondition positive: B _______ (add A) or (add A and remove B)
effect: add A and possibly remove B

h2 : precondition positive: A _______ (add A and add C) or (delete A and add C) or (add C) or (add A and delete C) or
effect: possibly add/remove A and possibly add/remove C (delete A and delete C) or (delete C) or (add A) or (delete A) or []

"""
h_1 = Angelic_HLA( expr('h1'), 'B' , 'A & $-B')
h_2 = Angelic_HLA( expr('h2'), 'A', '$$A & $$C')
action_1 = Angelic_HLA.angelic_action(h_1)
action_2 = Angelic_HLA.angelic_action(h_2)

assert ([a.effect for a in action_1] == [ [expr('A'),expr('NotB')], [expr('A')]] )
assert ([a.effect for a in action_2] == [[expr('A') , expr('C')], [expr('NotA'), expr('C')], [expr('C')], [expr('A'), expr('NotC')], [expr('NotA'), expr('NotC')], [expr('NotC')], [expr('A')], [expr('NotA')], [None] ] )


def test_optimistic_reachable_set():

h_1 = Angelic_HLA( 'h1', 'B' , '$+A & $-B ')
h_2 = Angelic_HLA( 'h2', 'A', '$$A & $$C')
f_1 = HLA('h1', 'B', 'A & ~B')
f_2 = HLA('h2', 'A', 'A & C')
problem = Problem('B', 'A', [f_1,f_2] )
plan = Angelic_Node(problem.init, None, [h_1,h_2], [h_1,h_2])
opt_reachable_set = Problem.reach_opt(problem.init, plan )
assert(opt_reachable_set[1] == [[expr('A'), expr('NotB')], [expr('NotB')],[expr('B'), expr('A')], [expr('B')]])
assert( problem.intersects_goal(opt_reachable_set) )


def test_pesssimistic_reachable_set():
"""
Given a problem initial state and a plan
"""
h_1 = Angelic_HLA( 'h1', 'B' , '$+A & $-B ')
h_2 = Angelic_HLA( 'h2', 'A', '$$A & $$C')
f_1 = HLA('h1', 'B', 'A & ~B')
f_2 = HLA('h2', 'A', 'A & C')
problem = Problem('B', 'A', [f_1,f_2] )
plan = Angelic_Node(problem.init, None, [h_1,h_2], [h_1,h_2])
pes_reachable_set = Problem.reach_pes(problem.init, plan )
assert(pes_reachable_set[1] == [[expr('A'), expr('NotB')], [expr('NotB')],[expr('B'), expr('A')], [expr('B')]])
assert(problem.intersects_goal(pes_reachable_set))


def test_find_reachable_set():
h_1 = Angelic_HLA( 'h1', 'B' , '$+A & $-B ')
f_1 = HLA('h1', 'B', 'A & ~B')
problem = Problem('B', 'A', [f_1] )
plan = Angelic_Node(problem.init, None, [h_1], [h_1])
reachable_set = {0: [problem.init]}
action_description = [h_1]

reachable_set = Problem.find_reachable_set(reachable_set, action_description)
assert(reachable_set[1] == [[expr('A'), expr('NotB')], [expr('NotB')],[expr('B'), expr('A')], [expr('B')]])



def test_intersects_goal():
problem_1 = Problem('At(SFO)', 'At(SFO)', [])
problem_2 = Problem('At(Home) & Have(Cash) & Have(Car) ', 'At(SFO) & Have(Cash)', [])
reachable_set_1 = {0: [problem_1.init]}
reachable_set_2 = {0: [problem_2.init]}

assert(Problem.intersects_goal(problem_1, reachable_set_1))
assert(not Problem.intersects_goal(problem_2, reachable_set_2))


def test_making_progress():
"""
function not yet implemented
"""
assert(True)

def test_angelic_search():

library = {
'HLA': ['Go(Home,SFO)', 'Go(Home,SFO)', 'Drive(Home, SFOLongTermParking)', 'Shuttle(SFOLongTermParking, SFO)', 'Taxi(Home, SFO)'],
'steps': [['Drive(Home, SFOLongTermParking)' , 'Shuttle(SFOLongTermParking, SFO)'], ['Taxi(Home, SFO)'], [], [], []],
'precond': [['At(Home)', 'Have(Car)'], ['At(Home)'], ['At(Home)', 'Have(Car)'], ['At(SFOLongTermParking)'], ['At(Home)']],
'effect': [['At(SFO)'], ['At(SFO)'], ['At(SFOLongTermParking)'], ['At(SFO)'], ['At(SFO)'], ['~At(Home)'], ['~At(Home)'], ['~At(Home)'], ['~At(SFOLongTermParking)'], ['~At(Home)']]
}

go_SFO = HLA('Go(Home,SFO)', precond='At(Home)', effect='At(SFO) & ~At(Home)')
taxi_SFO = HLA('Taxi(Home,SFO)', precond='At(Home) & Cash', effect='At(SFO) & ~At(Home)')
drive_SFOLongTermParking = HLA('Drive(Home,SFOLongTermParking)', precond='At(Home) & Car', effect='At(SFOLongTermParking) & ~At(Home)')
shuttle_SFO = HLA('Shuttle(SFOLongTermParking,SFO)', precond = 'At(SFOLongTermParking)', effect = 'At(SFO) & ~At(SFOLongTermParking)')

prob = Problem('At(Home) & Have(Cash) & Have(Car) ', 'At(SFO) & Have(Cash)', [go_SFO, taxi_SFO, drive_SFOLongTermParking,shuttle_SFO])

angelic_opt_description = Angelic_HLA('Go(Home, SFO)', precond = 'At(Home)', effect ='$+At(SFO) & $-At(Home)' )
angelic_pes_description = Angelic_HLA('Go(Home, SFO)', precond = 'At(Home)', effect ='$+At(SFO) & ~At(Home)' )


initialPlan = [Angelic_Node(prob.init, None, [angelic_opt_description], [angelic_pes_description])]
assert( Problem.angelic_search(prob, library, initialPlan) )