def apply_operators(ele, operators, knowledge_base, epsilon):
operator_output = None
for operator in operators:
effect = list(operator.effects)[0]
pattern = effect[0]
u_mapping = unify(
pattern, ground(ele),
{}) #Returns a mapping to name the values in the expression
if (u_mapping):
# print(operator.conditions,"\n")
# print(u_mapping,"\n")
# print(effect[1],"\n")
# print("BEEP", [subst(u_mapping,x) for x in operator.conditions],"\n")
condition_sub = [subst(u_mapping, x) for x in operator.conditions]
# print("CS", condition_sub)
value_map = next(
knowledge_base.fc_query(condition_sub,
max_depth=0,
epsilon=epsilon))
# print(value_map)
# print()
try:
operator_output = execute_functions(subst(
value_map, effect[1]))
except:
continue
return operator_output
def get_matches(self, x, constraints=None, epsilon=0.0):
if self.operator is None:
return
# print("GETTING MATCHES")
grounded = [(ground(a), x[a]) for a in x if (isinstance(a, tuple))]
# print("FACTS")
# pprint(grounded)
index = build_index(grounded)
# print("INDEX")
# pprint(index)
# print("OPERATOR")
# pprint(self.operator)
for m in self.operator.match(index, epsilon=epsilon):
# print('match', m, self.operator.name)
result = tuple(
[unground(subst(m, ele)) for ele in self.operator.name[1:]])
# result = tuple(['?' + subst(m, ele)
# for ele in self.operator.name[1:]])
# result = tuple(['?' + m[e] for e in self.target_types])
# print('GET MATCHES T', result)
yield result
def get_matches(self, x, epsilon=0.0):
# print("GETTING MATCHES")
# pprint(self.learner.get_hset())
grounded = self.ground_example(x)
# grounded = [(ground(a), x[a]) for a in x if (isinstance(a, tuple))]
# print("FACTS")
# pprint(grounded)
index = build_index(grounded)
# print("INDEX")
# pprint(index)
# print("OPERATOR")
# pprint(self.operator)
# print(self.learner.get_hset())
for h in self.learner.get_hset():
# print('h', h)
# Update to include initial args
operator = Operator(tuple(('Rule', ) + self.args), h, [])
# print("OPERATOR", h)
for m in operator.match(index, epsilon=epsilon):
# print('match', m, operator.name)
result = tuple(
[unground(subst(m, ele)) for ele in operator.name[1:]])
# result = tuple(['?' + subst(m, ele)
# for ele in self.operator.name[1:]])
# result = tuple(['?' + m[e] for e in self.target_types])
# print('GET MATCHES T', result)
yield result
def explain_sai(self, skill, learner_dict, sai, knowledge_base, state):
"""
Doc String
"""
# print(skill)
# print(skill['where'])
exp, iargs = skill
skill_where = learner_dict['where']
#
# print("SAI", sai)
for match in skill_where.get_matches(state):
# print(exp)
# print()
# print(m)
# print("CLOOOL",get_vars(exp), exp)
mapping = {var: val for var, val in zip(get_vars(exp), match)}
grounded_exp = subst(mapping, exp)
rg_exp = tuple(
eval_expression(grounded_exp, knowledge_base,
self.function_set, self.epsilon))
# print("RG_EXP", rg_exp)
if (rg_exp == sai):
yield mapping
def request(self, state):
tup = Tuplizer()
flt = Flattener()
state = flt.transform(tup.transform(state))
new = {}
for attr in state:
if (isinstance(attr, tuple) and attr[0] == 'value'):
new[('editable', attr[1])] = state[attr] == ''
for attr2 in state:
if (isinstance(attr2, tuple) and attr2[0] == 'value'):
if (attr2 == attr or attr < attr2
or (state[attr] == "" or state[attr2] == "")):
continue
if (state[attr] == state[attr2]):
new[('eq', attr, attr2)] = True
state.update(new)
# pprint(state)
# for episode in range(self.max_episodes):
while True:
print("#########")
print("NEW TRACE")
print("#########")
kb = FoPlanner([(self.ground(a), state[a].replace('?', 'QM')
if isinstance(state[a], str) else state[a])
for a in state], functionsets[self.action_set])
curr_state = {x[0]: x[1] for x in kb.facts}
next_actions = [a for a in kb.fc_get_actions(epsilon=epsilon)]
trace_actions = []
depth = 0
while depth < search_depth:
actions = [(self.Q.evaluate(curr_state, get_action_key(a)), a)
for a in next_actions]
print("NEXT ACTION WEIGHTS")
print(
sorted([(w, a[0].name[0]) for w, a in actions],
reverse=True))
# operator, mapping, effects = weighted_choice(actions)
operator, mapping, effects = max_choice(actions)
# operator, mapping, effects = choice(action_space)
self.last_state = curr_state
self.last_action = get_action_key((operator, mapping, effects))
trace_actions.append(subst(mapping, operator.name))
for f in effects:
kb.add_fact(f)
# if not termainal, then decrease reward
# self.reward = -1
self.reward = 0
curr_state = {x[0]: x[1] for x in kb.facts}
depth += 1
# check if we're in a terminal state
# if so, query oracle
for f in effects:
f = self.unground(f)
if f[0] == 'sai':
response = {}
response['label'] = str(trace_actions)
response['selection'] = f[1]
response['action'] = f[2]
response['inputs'] = {'value': f[3]}
# {a: rg_exp[3+i] for i, a in
# enumerate(input_args)}
# response['inputs'] = list(rg_exp[3:])
response['foas'] = []
# pprint(response)
print("EXECUTING ACTION", self.last_action)
print("Requesting oracle feedback")
return response
# punish for failed search
if depth >= search_depth:
# self.reward -= 3 * search_depth
curr_state = None
next_actions = []
else:
# because we're not terminal we can compute next_actions
next_actions = [
a for a in kb.fc_get_actions(epsilon=epsilon,
must_match=effects)
]
self.Q.update(self.last_state, self.last_action, self.reward,
curr_state, next_actions)
def successors(self, node):
h = node.state
# print("EXPANDING H", h)
args, constraints, pset, neg, neg_mapping, gensym = node.extra
all_args = set(s for x in h.union(constraints)
for s in extract_strings(x) if is_variable(s))
if len(pset) == 0:
return
p, pm = choice(pset)
p_index = build_index(p)
operator = Operator(tuple(('Rule', ) + tuple(all_args)),
h.union(constraints), [])
# operator = Operator(tuple(('Rule',) + args), h, [])
found = False
for m in operator.match(p_index, initial_mapping=pm):
reverse_m = {m[a]: a for a in m}
pos_partial = set([rename(reverse_m, x) for x in p])
found = True
break
if not found:
return
n_index = build_index(neg)
found = False
for nm in operator.match(n_index, initial_mapping=neg_mapping):
# print(nm)
reverse_nm = {nm[a]: a for a in nm}
neg_partial = set([rename(reverse_nm, x) for x in neg])
found = True
break
if not found:
return
unique_pos = pos_partial - neg_partial
unique_neg = neg_partial - pos_partial
# print("UNIQUE POS", unique_pos)
# print("UNIQUE NEG", unique_neg)
# Yield all minimum specializations of current vars
for a in m:
# TODO make sure m[a] is a minimum specialization
sub_m = {a: m[a]}
new_h = frozenset([subst(sub_m, ele) for ele in h])
# print("SPECIALIZATION", new_h, sub_m)
# print()
yield Node(new_h, node, ('specializing', (a, m[a])),
node.cost() + 1, node.extra)
# Add Negations for all neg specializations
# for a in nm:
# sub_nm = {a: nm[a]}
# new_nh = set()
# for ele in h:
# new = subst(sub_nm, ele)
# if new != ele and new not in h:
# new_nh.add(('not', new))
# new_h = h.union(new_nh)
# print("NEGATION SPECIALIZATION", new_nh)
# yield Node(new_h, node, ('negation specialization', (a, nm[a])),
# node.cost()+1, node.extra)
# if current vars then add all relations that include current vars
if len(all_args) > 0:
added = set()
for literal in unique_pos:
if literal in h or literal in constraints:
continue
args = set(s for s in extract_strings(literal)
if is_variable(s))
if len(args.intersection(all_args)) > 0:
key = (literal[0], ) + tuple(
ele if is_variable(ele) else '?'
for ele in literal[1:])
if key in added:
continue
added.add(key)
literal = generalize_literal(literal, gensym)
new_h = h.union(frozenset([literal]))
# print("ADD CURRENT", new_h)
# print()
yield Node(new_h, node, ('adding current', literal),
node.cost() + 1, node.extra)
else:
added = set()
for literal in unique_pos:
if literal in h or literal in constraints:
continue
if literal[0] in added:
continue
added.add(literal[0])
literal = generalize_literal(literal, gensym)
new_h = h.union(frozenset([literal]))
# print("ADD NEW", new_h)
# print()
yield Node(new_h, node, ('adding', literal),
node.cost() + 1, node.extra)
