def _try_btsmooth_refine(self):
bt = self._try_backtracking_refine()
while True:
fluent = next(bt)
if fluent is None:
break
yield fluent
llprob = LLProb(self.action_list)
llprob.solve_at_priority(0, fix_sampled_params=True)
llprob.solve_at_priority(2)
fluents = [f for a in self.action_list for f in a.preconditions + a.postconditions]
violated_fluents = self.find_violated_fluents(fluents, priority=2)
assert len(violated_fluents) == 0
self.total_cost = llprob.traj_cost
yield None
def _try_joint_refine(self):
sampled_params = self.world.get_sampled_params()
sampled_params.sort(key=lambda p: p.sample_priority)
recently_sampled = sampled_params
for param in sampled_params:
param.resample()
llprob = LLProb(self.action_list)
llprob.solve_at_priority(-1, recently_sampled=recently_sampled)
all_useful_fluents = set()
count = 0
while True:
count += 1
llprob.solve_at_priority(0, recently_sampled=recently_sampled)
for priority in JOINT_REF_PRIORITIES:
llprob.solve_at_priority(priority)
if llprob.recently_converged_vio_fluent is not None:
# early converged based on a violated fluent
violated_fluents = [llprob.recently_converged_vio_fluent]
else:
fluents = [f for a in self.action_list for f in a.preconditions + a.postconditions]
violated_fluents = self.find_violated_fluents(fluents, priority)
if len(violated_fluents) == 0:
if priority == JOINT_REF_PRIORITIES[-1]:
self.total_cost = llprob.traj_cost
yield None
continue
else:
try:
self.save_useful_fluents(violated_fluents, all_useful_fluents)
recently_sampled = self.randomized_resample(sampled_params, violated_fluents, mode="fluent", count=count)
except StopIteration:
for f in all_useful_fluents:
self.remove_plots()
yield f
if len(all_useful_fluents) == 0:
print "Resampling all params, no violated fluents to raise..."
for p in sampled_params:
try:
p.resample()
except StopIteration:
p.reset_gen()
p.resample()
# reset set of useful fluents, since we yielded them all
all_useful_fluents = set()
count = 0
break # out of for loop
