@Override
public boolean isTrue(State s, String[] params) {
ObjectInstance agent = s.getObject(params[0]);
ObjectInstance location = s.getObject(params[1]);
int ax = agent.getDiscValForAttribute(ATTX);
int ay = agent.getDiscValForAttribute(ATTY);
int lx = location.getDiscValForAttribute(ATTX);
int ly = location.getDiscValForAttribute(ATTY);
return ax == lx && ay == ly;
}
public static State getExampleState(Domain domain) {
State s = new State();
ObjectInstance agent = new ObjectInstance(domain.getObjectClass(CLASSAGENT), "agent0");
agent.setValue(ATTX, 0);
agent.setValue(ATTY, 0);
ObjectInstance location = new ObjectInstance(domain.getObjectClass(CLASSLOCATION), "location0");
location.setValue(ATTX, 10);
location.setValue(ATTY, 10);
s.addObject(agent);
s.addObject(location);
return s;
}
@Override
public List<QValue> getQs(State s) {
StateHashTuple sh = this.stateHash(s);
Map<String, String> matching = null;
StateHashTuple indexSH = mapToStateIndex.get(sh);
if (indexSH == null) {
// then this is an unexplored state
indexSH = sh;
mapToStateIndex.put(indexSH, indexSH);
}
if (this.containsParameterizedActions && !this.domain.isNameDependent()) {
matching = sh.s.getObjectMatchingTo(indexSH.s, false);
}
List<QValue> res = new ArrayList<QValue>();
for (Action a : actions) {
List<GroundedAction> applications = s.getAllGroundedActionsFor(a);
for (GroundedAction ga : applications) {
res.add(this.getQ(sh, ga, matching));
}
}
return res;
}
@Override
protected State performActionHelper(State s, String[] params) {
// get agent and current position
ObjectInstance agent = s.getFirstObjectOfClass(CLASSAGENT);
int curX = agent.getDiscValForAttribute(ATTX);
int curY = agent.getDiscValForAttribute(ATTY);
// sample directon with random roll
double r = Math.random();
double sumProb = 0.;
int dir = 0;
for (int i = 0; i < this.directionProbs.length; i++) {
sumProb += this.directionProbs[i];
if (r < sumProb) {
dir = i;
break; // found direction
}
}
// get resulting position
int[] newPos = this.moveResult(curX, curY, dir);
// set the new position
agent.setValue(ATTX, newPos[0]);
agent.setValue(ATTY, newPos[1]);
// return the state we just modified
return s;
}
@Override
public boolean equals(Object other) {
if (this == other) {
return true;
}
if (!(other instanceof State)) {
return false;
}
State so = (State) other;
if (this.numTotalObjets() != so.numTotalObjets()) {
return false;
}
Set<String> matchedObjects = new HashSet<String>();
for (List<ObjectInstance> objects : objectIndexByTrueClass.values()) {
String oclass = objects.get(0).getTrueClassName();
List<ObjectInstance> oobjects = so.getObjectsOfTrueClass(oclass);
if (objects.size() != oobjects.size()) {
return false;
}
for (ObjectInstance o : objects) {
boolean foundMatch = false;
for (ObjectInstance oo : oobjects) {
String ooname = oo.getName();
if (matchedObjects.contains(ooname)) {
continue;
}
if (o.valueEquals(oo)) {
foundMatch = true;
matchedObjects.add(ooname);
break;
}
}
if (!foundMatch) {
return false;
}
}
}
return true;
}
public void PlanRecipeTwoAgents(Domain domain, Recipe recipe) {
System.out.println("Creating two-agent initial start state");
State state = new State();
Action mix = new MixAction(domain, recipe.topLevelIngredient);
// Action bake = new BakeAction(domain);
Action pour = new PourAction(domain, recipe.topLevelIngredient);
Action move = new MoveAction(domain, recipe.topLevelIngredient);
state.addObject(AgentFactory.getNewHumanAgentObjectInstance(domain, "human"));
state.addObject(AgentFactory.getNewHumanAgentObjectInstance(domain, "robot"));
state.addObject(MakeSpanFactory.getNewObjectInstance(domain, "makeSpan", 2));
List<String> containers = Arrays.asList("mixing_bowl_1");
state.addObject(SpaceFactory.getNewWorkingSpaceObjectInstance(domain, "shelf", null, null));
state.addObject(
SpaceFactory.getNewWorkingSpaceObjectInstance(
domain, "counter_human", containers, "human"));
state.addObject(
SpaceFactory.getNewWorkingSpaceObjectInstance(
domain, "counter_robot", containers, "robot"));
for (String container : containers) {
state.addObject(
ContainerFactory.getNewMixingContainerObjectInstance(domain, container, null, "shelf"));
}
this.PlanIngredient(domain, state, recipe.topLevelIngredient);
}
@Override
public double qValue(State s, GroundedAction a) {
int cNodeId =
s.getObjectsOfTrueClass(GraphDefinedDomain.CLASSAGENT)
.get(0)
.getDiscValForAttribute(GraphDefinedDomain.ATTNODE);
int aId = this.actionId(a);
return qInit[cNodeId][aId];
}
/**
* This method computes a matching from objects in the receiver to value-identical objects in the
* parameter state so. The matching is returned as a map from the object names in the receiving
* state to the matched objects in state so. If enforceStateExactness is set to true, then the
* returned matching will be an empty map if the two states are not OO-MDP-wise identical (i.e.,
* if there is a not a bijection between value-identical objects of the two states). If
* enforceExactness is false and the states are not identical, the the method will return the
* largest matching between objects that can be made.
*
* @param so the state to whose objects the receiving state's objects should be matched
* @param enforceStateExactness whether to require that states are identical to return a matching
* @return a matching from this receiving state's objects to objects in so that have identical
* values.
*/
public Map<String, String> getObjectMatchingTo(State so, boolean enforceStateExactness) {
Map<String, String> matching = new HashMap<String, String>();
if (this.numTotalObjets() != so.numTotalObjets() && enforceStateExactness) {
return new HashMap<String, String>(); // states are not equal and therefore cannot be matched
}
Set<String> matchedObs = new HashSet<String>();
for (List<ObjectInstance> objects : objectIndexByTrueClass.values()) {
String oclass = objects.get(0).getTrueClassName();
List<ObjectInstance> oobjects = so.getObjectsOfTrueClass(oclass);
if (objects.size() != oobjects.size() && enforceStateExactness) {
return new HashMap<
String, String>(); // states are not equal and therefore cannot be matched
}
for (ObjectInstance o : objects) {
boolean foundMatch = false;
for (ObjectInstance oo : oobjects) {
if (matchedObs.contains(oo.getName())) {
continue; // already matched this one; check another
}
if (o.valueEquals(oo)) {
foundMatch = true;
matchedObs.add(oo.getName());
matching.put(o.getName(), oo.getName());
break;
}
}
if (!foundMatch && enforceStateExactness) {
return new HashMap<
String, String>(); // states are not equal and therefore cannot be matched
}
}
}
return matching;
}
@Override
public List<TransitionProbability> getTransitions(State s, String[] params) {
// get agent and current position
ObjectInstance agent = s.getFirstObjectOfClass(CLASSAGENT);
int curX = agent.getDiscValForAttribute(ATTX);
int curY = agent.getDiscValForAttribute(ATTY);
List<TransitionProbability> tps = new ArrayList<TransitionProbability>(4);
TransitionProbability noChangeTransition = null;
for (int i = 0; i < this.directionProbs.length; i++) {
int[] newPos = this.moveResult(curX, curY, i);
if (newPos[0] != curX || newPos[1] != curY) {
// new possible outcome
State ns = s.copy();
ObjectInstance nagent = ns.getFirstObjectOfClass(CLASSAGENT);
nagent.setValue(ATTX, newPos[0]);
nagent.setValue(ATTY, newPos[1]);
// create transition probability object and add to our list of outcomes
tps.add(new TransitionProbability(ns, this.directionProbs[i]));
} else {
// this direction didn't lead anywhere new
// if there are existing possible directions that wouldn't lead anywhere, aggregate with
// them
if (noChangeTransition != null) {
noChangeTransition.p += this.directionProbs[i];
} else {
// otherwise create this new state and transition
noChangeTransition = new TransitionProbability(s.copy(), this.directionProbs[i]);
tps.add(noChangeTransition);
}
}
}
return tps;
}
@Override
public boolean isTerminal(State s) {
// get location of agent in next state
ObjectInstance agent = s.getFirstObjectOfClass(CLASSAGENT);
int ax = agent.getDiscValForAttribute(ATTX);
int ay = agent.getDiscValForAttribute(ATTY);
// are they at goal location?
if (ax == this.goalX && ay == this.goalY) {
return true;
}
return false;
}
@Override
public double reward(State s, GroundedAction a, State sprime) {
// get location of agent in next state
ObjectInstance agent = sprime.getFirstObjectOfClass(CLASSAGENT);
int ax = agent.getDiscValForAttribute(ATTX);
int ay = agent.getDiscValForAttribute(ATTY);
// are they at goal location?
if (ax == this.goalX && ay == this.goalY) {
return 100.;
}
return -1;
}
@Override
public double[] generateFeatureVectorFrom(State s) {
ObjectInstance agent = s.getFirstObjectOfClass(GridWorldDomain.CLASSAGENT);
int ax = agent.getDiscValForAttribute(GridWorldDomain.ATTX);
int ay = agent.getDiscValForAttribute(GridWorldDomain.ATTY);
double[] vec = new double[this.getDim()];
if (this.map[ax][ay] > 0) {
vec[map[ax][ay] - 1] = 1.;
}
return vec;
}
@Override
public List<TransitionProbability> getTransitions(State s, String[] params) {
State nextState = performActionHelper(s, params);
nextState.getObject(Names.OBJ_LEFT_DOOR).setValue(Names.ATTR_TIGERNESS, 1);
nextState.getObject(Names.OBJ_RIGHT_DOOR).setValue(Names.ATTR_TIGERNESS, 0);
List<TransitionProbability> TPList = new ArrayList<TransitionProbability>();
TPList.add(new TransitionProbability(nextState, 0.5));
State nextState1 = performActionHelper(s, params);
nextState1.getObject(Names.OBJ_LEFT_DOOR).setValue(Names.ATTR_TIGERNESS, 0);
nextState1.getObject(Names.OBJ_RIGHT_DOOR).setValue(Names.ATTR_TIGERNESS, 1);
TPList.add(new TransitionProbability(nextState1, 0.5));
return TPList;
}
public static boolean isTerminal(State s) {
return s.getObject(Names.OBJ_INDEXER).getDiscValForAttribute(Names.ATTR_INDEX) == iterations;
}
@Override
public double[] generateFeatureVectorFrom(State s) {
ObjectInstance agent = s.getFirstObjectOfClass(GridWorldDomain.CLASSAGENT);
int ax = agent.getDiscValForAttribute(GridWorldDomain.ATTX);
int ay = agent.getDiscValForAttribute(GridWorldDomain.ATTY);
double[] vec = new double[this.getDim()];
if (this.map[ax][ay] > 0) {
vec[map[ax][ay] - 1] = 1.;
}
// now do distances
// first seed to max val
for (int i = this.numCells; i < vec.length; i++) {
vec[i] = 61.;
}
// set goal (type 0) to its goal position assuming only 1 instance of it, so we don't scan
// large distances for it
if (this.gx != -1) {
vec[this.numCells] = Math.abs(this.gx - ax) + Math.abs(this.gy - ay);
}
// now do scan
for (int r = 0; r < 16; r++) {
int x;
// scan top
int y = ay + r;
if (y < 30) {
for (x = Math.max(ax - r, 0); x <= Math.min(ax + r, 29); x++) {
this.updateNearest(vec, ax, ay, x, y);
}
}
// scan bottom
y = ay - r;
if (y > -1) {
for (x = Math.max(ax - r, 0); x <= Math.min(ax + r, 29); x++) {
this.updateNearest(vec, ax, ay, x, y);
}
}
// scan left
x = ax - r;
if (x > -1) {
for (y = Math.max(ay - r, 0); y <= Math.min(ay + r, 29); y++) {
this.updateNearest(vec, ax, ay, x, y);
}
}
// scan right
x = ax + r;
if (x < 30) {
for (y = Math.max(ay - r, 0); y <= Math.min(ay + r, 29); y++) {
this.updateNearest(vec, ax, ay, x, y);
}
}
if (this.foundNearestForAll(vec)) {
break;
}
}
return vec;
}
/**
* Returns the object instance in a state that holds the y-position information.
*
* @param s the state for which to get the y-position
* @return the object instance in a state that holds the y-position information.
*/
protected ObjectInstance yObjectInstance(State s) {
if (this.yClassName != null) {
return s.getFirstObjectOfClass(yClassName);
}
return s.getObject(yObjectName);
}
public String stateToString(State s) {
int ldt = s.getObject(Names.OBJ_LEFT_DOOR).getDiscValForAttribute(Names.ATTR_TIGERNESS);
return ldt == 1 ? "<TIGER LEFT>" : "<TIGER RIGHT>";
}
public State PlanIngredient(Domain domain, State startingState, IngredientRecipe ingredient) {
State currentState = new State(startingState);
List<IngredientRecipe> contents = ingredient.getContents();
for (IngredientRecipe subIngredient : contents) {
if (!subIngredient.isSimple()) {
System.out.println("Planning ingredient " + subIngredient.getName());
currentState = this.PlanIngredient(domain, currentState, subIngredient);
}
}
ObjectClass simpleIngredientClass = domain.getObjectClass(IngredientFactory.ClassNameSimple);
ObjectClass containerClass = domain.getObjectClass(ContainerFactory.ClassName);
ObjectInstance shelfSpace = currentState.getObject("shelf");
List<ObjectInstance> ingredientInstances =
IngredientFactory.getSimpleIngredients(simpleIngredientClass, ingredient);
List<ObjectInstance> containerInstances =
Recipe.getContainers(containerClass, ingredientInstances, shelfSpace.getName());
for (ObjectInstance ingredientInstance : ingredientInstances) {
if (currentState.getObject(ingredientInstance.getName()) == null) {
currentState.addObject(ingredientInstance);
}
}
for (ObjectInstance containerInstance : containerInstances) {
if (currentState.getObject(containerInstance.getName()) == null) {
ContainerFactory.changeContainerSpace(containerInstance, shelfSpace.getName());
currentState.addObject(containerInstance);
}
}
final PropositionalFunction isSuccess = new RecipeFinished("success", domain, ingredient);
PropositionalFunction isFailure = new RecipeBotched("botched", domain, ingredient);
// RewardFunction recipeRewardFunction = new RecipeRewardFunction(brownies);
// RewardFunction recipeRewardFunction = new RecipeRewardFunction();
RewardFunction humanRewardFunction = new RecipeAgentSpecificMakeSpanRewardFunction("human");
RewardFunction robotRewardFunction = new RecipeAgentSpecificMakeSpanRewardFunction("robot");
TerminalFunction recipeTerminalFunction = new RecipeTerminalFunction(isSuccess, isFailure);
StateHashFactory hashFactory = new NameDependentStateHashFactory();
StateConditionTest goalCondition =
new StateConditionTest() {
@Override
public boolean satisfies(State s) {
return isSuccess.somePFGroundingIsTrue(s);
}
};
// final int numSteps = Recipe.getNumberSteps(ingredient);
Heuristic heuristic =
new Heuristic() {
@Override
public double h(State state) {
return 0;
// List<ObjectInstance> objects =
// state.getObjectsOfTrueClass(Recipe.ComplexIngredient.className);
// double max = 0;
// for (ObjectInstance object : objects)
// {
// max = Math.max(max, this.getSubIngredients(state, object));
// }
// return numSteps - max;
}
/*
public int getSubIngredients(State state, ObjectInstance object)
{
int count = 0;
count += IngredientFactory.isBakedIngredient(object) ? 1 : 0;
count += IngredientFactory.isMixedIngredient(object) ? 1 : 0;
count += IngredientFactory.isMeltedIngredient(object) ? 1 : 0;
if (IngredientFactory.isSimple(object))
{
return count;
}
Set<String> contents = IngredientFactory.getContentsForIngredient(object);
for (String str: contents)
{
count += this.getSubIngredients(state, state.getObject(str));
}
return count;
}*/
};
boolean finished = false;
State endState = startingState;
List<GroundedAction> fullActions = new ArrayList<GroundedAction>();
List<Double> fullReward = new ArrayList<Double>();
boolean currentAgent = false;
while (!finished) {
currentAgent = !currentAgent;
RewardFunction recipeRewardFunction =
(currentAgent) ? humanRewardFunction : robotRewardFunction;
AStar aStar = new AStar(domain, recipeRewardFunction, goalCondition, hashFactory, heuristic);
aStar.planFromState(currentState);
Policy policy = new DDPlannerPolicy(aStar);
EpisodeAnalysis episodeAnalysis =
policy.evaluateBehavior(currentState, recipeRewardFunction, recipeTerminalFunction);
System.out.println("Taking action " + episodeAnalysis.actionSequence.get(0).action.getName());
fullActions.add(episodeAnalysis.actionSequence.get(0));
fullReward.add(episodeAnalysis.rewardSequence.get(0));
currentState = episodeAnalysis.stateSequence.get(1);
endState = episodeAnalysis.getState(episodeAnalysis.stateSequence.size() - 1);
List<ObjectInstance> finalObjects =
new ArrayList<ObjectInstance>(
endState.getObjectsOfTrueClass(IngredientFactory.ClassNameComplex));
List<ObjectInstance> containerObjects =
new ArrayList<ObjectInstance>(endState.getObjectsOfTrueClass(ContainerFactory.ClassName));
ObjectInstance namedIngredient = null;
for (ObjectInstance obj : finalObjects) {
if (Recipe.isSuccess(endState, ingredient, obj)) {
namedIngredient =
DualAgentIndependentPlan.getNewNamedComplexIngredient(obj, ingredient.getName());
String container = IngredientFactory.getContainer(obj);
DualAgentIndependentPlan.switchContainersIngredients(
containerObjects, obj, namedIngredient);
ObjectInstance containerInstance = endState.getObject(container);
ContainerFactory.removeContents(containerInstance);
ContainerFactory.addIngredient(containerInstance, ingredient.getName());
endState.removeObject(obj);
endState.addObject(namedIngredient);
// return endState;
}
}
if (episodeAnalysis.actionSequence.size() <= 1) {
System.out.println("Action sequence size: " + episodeAnalysis.actionSequence.size());
finished = true;
}
for (int i = 0; i < fullActions.size(); ++i) {
GroundedAction action = fullActions.get(i);
double reward = fullReward.get(i);
System.out.print("Cost: " + reward + " " + action.action.getName() + " ");
for (int j = 0; j < action.params.length; ++j) {
System.out.print(action.params[j] + " ");
}
System.out.print("\n");
}
}
return endState;
}
