def test_param_4(self):
system = DialogueSystem(TestParameters.domain1)
system.detach_module(ForwardPlanner)
system.get_settings().show_gui = False
system.start_system()
rules = TestParameters.domain1.get_models()[1].get_rules()
outputs = rules[0].get_output(Assignment("u_u", "my name is"))
o = Effect(BasicEffect("u_u^p", "Pierre"))
assert isinstance(outputs.get_parameter(o), SingleParameter)
input = Assignment("theta_5", ValueFactory.create("[0.36, 0.24, 0.40]"))
assert outputs.get_parameter(o).get_value(input) == pytest.approx(0.36, abs=0.01)
system.get_state().remove_nodes(system.get_state().get_action_node_ids())
system.get_state().remove_nodes(system.get_state().get_utility_node_ids())
system.add_content("u_u", "my name is")
system.get_state().remove_nodes(system.get_state().get_action_node_ids())
system.get_state().remove_nodes(system.get_state().get_utility_node_ids())
system.add_content("u_u", "Pierre")
system.get_state().remove_nodes(system.get_state().get_action_node_ids())
system.get_state().remove_nodes(system.get_state().get_utility_node_ids())
system.add_content("u_u", "my name is")
system.get_state().remove_nodes(system.get_state().get_action_node_ids())
system.get_state().remove_nodes(system.get_state().get_utility_node_ids())
system.add_content("u_u", "Pierre")
assert system.get_state().query_prob("theta_5").to_continuous().get_function().get_mean()[0] == pytest.approx(0.3, abs=0.12)
def test_IS2013(self):
domain = XMLDomainReader.extract_domain(TestLearning.domain_file)
params = XMLStateReader.extract_bayesian_network(TestLearning.parameters_file, "parameters")
domain.set_parameters(params)
system = DialogueSystem(domain)
system.get_settings().show_gui = False
system.detach_module(ForwardPlanner)
Settings.nr_samples = Settings.nr_samples * 3
Settings.max_sampling_time = Settings.max_sampling_time * 10
system.start_system()
init_mean = system.get_content("theta_1").to_continuous().get_function().get_mean()
builder = CategoricalTableBuilder("a_u")
builder.add_row("Move(Left)", 1.0)
builder.add_row("Move(Right)", 0.0)
builder.add_row("None", 0.0)
system.add_content(builder.build())
system.get_state().remove_nodes(system.get_state().get_utility_node_ids())
system.get_state().remove_nodes(system.get_state().get_action_node_ids())
after_mean = system.get_content("theta_1").to_continuous().get_function().get_mean()
assert after_mean[0] - init_mean[0] > 0.04
assert after_mean[1] - init_mean[1] < 0.04
assert after_mean[2] - init_mean[2] < 0.04
assert after_mean[3] - init_mean[3] < 0.04
assert after_mean[4] - init_mean[4] < 0.04
assert after_mean[5] - init_mean[5] < 0.04
assert after_mean[6] - init_mean[6] < 0.04
assert after_mean[7] - init_mean[7] < 0.04
Settings.nr_samples = int(Settings.nr_samples / 3)
Settings.max_sampling_time = Settings.max_sampling_time / 10
def test_3(self):
system = DialogueSystem(TestRule2.domain)
system.get_settings().show_gui = False
system.detach_module(ForwardPlanner)
eq_factor = EquivalenceDistribution.none_prob
EquivalenceDistribution.none_prob = 0.1
old_prune_threshold = StatePruner.value_pruning_threshold
StatePruner.value_pruning_threshold = 0.0
system.start_system()
TestRule2.inference.check_util(system.get_state(), "a_m'", "Do(A)",
0.6)
TestRule2.inference.check_util(system.get_state(), "a_m'", "Do(B)",
-2.6)
builder = CategoricalTableBuilder("a_u")
builder.add_row("Ask(B)", 0.8)
builder.add_row("None", 0.2)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
system.add_content(builder.build())
TestRule2.inference.check_util(system.get_state(), "a_m'", "Do(A)",
-4.35)
TestRule2.inference.check_util(system.get_state(), "a_m'", "Do(B)",
2.357)
EquivalenceDistribution.none_prob = eq_factor
StatePruner.value_pruning_threshold = old_prune_threshold
def test_state_copy(self):
system = DialogueSystem(TestDialogueState.domain)
system.detach_module(ForwardPlanner)
StatePruner.enable_reduction = False
system.get_settings().show_gui = False
system.start_system()
initial_state = copy(system.get_state())
rule_id = ""
for id in system.get_state().get_node("u_u2").get_output_node_ids():
if str(system.get_content(id)).find("+=HowAreYou") != -1:
rule_id = id
TestDialogueState.inference.check_prob(
initial_state, rule_id, Effect.parse_effect("a_u2+=HowAreYou"),
0.9)
TestDialogueState.inference.check_prob(initial_state, rule_id,
Effect.parse_effect("Void"),
0.1)
TestDialogueState.inference.check_prob(initial_state, "a_u2",
"[HowAreYou]", 0.2)
TestDialogueState.inference.check_prob(initial_state, "a_u2",
"[Greet, HowAreYou]", 0.7)
TestDialogueState.inference.check_prob(initial_state, "a_u2", "[]",
0.1)
StatePruner.enable_reduction = True
def test_5(self):
domain2 = XMLDomainReader.extract_domain(TestRule2.domain_file3)
system2 = DialogueSystem(domain2)
system2.detach_module(ForwardPlanner)
system2.get_settings().show_gui = False
system2.start_system()
TestRule2.inference.check_util(
system2.get_state(), ["a_ml'", "a_mg'", "a_md'"],
Assignment([
Assignment("a_ml'", "SayYes"),
Assignment("a_mg'", "Nod"),
Assignment("a_md'", "None")
]), 2.4)
TestRule2.inference.check_util(
system2.get_state(), ["a_ml'", "a_mg'", "a_md'"],
Assignment([
Assignment("a_ml'", "SayYes"),
Assignment("a_mg'", "Nod"),
Assignment("a_md'", "DanceAround")
]), -0.6)
TestRule2.inference.check_util(
system2.get_state(), ["a_ml'", "a_mg'", "a_md'"],
Assignment([
Assignment("a_ml'", "SayYes"),
Assignment("a_mg'", "None"),
Assignment("a_md'", "None")
]), 1.6)
def test_6(self):
domain2 = XMLDomainReader.extract_domain(TestRule2.domain_file4)
system2 = DialogueSystem(domain2)
system2.detach_module(ForwardPlanner)
system2.get_settings().show_gui = False
system2.start_system()
TestRule2.inference.check_prob(system2.get_state(), "A",
ValueFactory.create("[a1,a2]"), 1.0)
TestRule2.inference.check_prob(system2.get_state(), "a_u",
"Request(ball)", 0.5)
def test_1(self):
system = DialogueSystem(TestRule1.domain)
system.detach_module(ForwardPlanner)
StatePruner.enable_reduction = False
system.get_settings().show_gui = False
system.start_system()
TestRule1.inference.check_prob(system.get_state(), "a_u", "Greeting",
0.8)
TestRule1.inference.check_prob(system.get_state(), "a_u", "None", 0.2)
StatePruner.enable_reduction = True
def test_7(self):
system = DialogueSystem(TestRule1.domain)
system.detach_module(ForwardPlanner)
StatePruner.enable_reduction = False
system.get_settings().show_gui = False
system.start_system()
TestRule1.inference.check_prob(system.get_state(), "a_u2",
"[Greet, HowAreYou]", 0.7)
TestRule1.inference.check_prob(system.get_state(), "a_u2", "[]", 0.1)
TestRule1.inference.check_prob(system.get_state(), "a_u2",
"[HowAreYou]", 0.2)
StatePruner.enable_reduction = True
def test_5(self):
system = DialogueSystem(TestRule1.domain)
system.detach_module(ForwardPlanner)
StatePruner.enable_reduction = False
system.get_settings().show_gui = False
system.start_system()
TestRule1.inference.check_prob(system.get_state(), "o2",
"here is value1", 0.35)
TestRule1.inference.check_prob(system.get_state(), "o2",
"and value2 is over there", 0.07)
TestRule1.inference.check_prob(system.get_state(), "o2",
"value3, finally", 0.28)
StatePruner.enable_reduction = True
def test_4(self):
system = DialogueSystem(TestRule1.domain)
system.detach_module(ForwardPlanner)
StatePruner.enable_reduction = False
system.get_settings().show_gui = False
system.start_system()
TestRule1.inference.check_prob(system.get_state(), "o",
"and we have var1=value2", 0.3)
TestRule1.inference.check_prob(system.get_state(), "o",
"and we have localvar=value1", 0.2)
TestRule1.inference.check_prob(system.get_state(), "o",
"and we have localvar=value3", 0.28)
StatePruner.enable_reduction = True
def test_1(self):
system = DialogueSystem(TestRule2.domain)
eq_factor = EquivalenceDistribution.none_prob
EquivalenceDistribution.none_prob = 0.1
old_prune_threshold = StatePruner.value_pruning_threshold
StatePruner.value_pruning_threshold = 0.0
system.get_settings().show_gui = False
system.detach_module(ForwardPlanner)
system.start_system()
TestRule2.inference.check_prob(system.get_state(), "a_u^p", "Ask(A)",
0.63)
TestRule2.inference.check_prob(system.get_state(), "a_u^p", "Ask(B)",
0.27)
TestRule2.inference.check_prob(system.get_state(), "a_u^p", "None",
0.1)
builder = CategoricalTableBuilder("a_u")
builder.add_row("Ask(B)", 0.8)
builder.add_row("None", 0.2)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
system.add_content(builder.build())
TestRule2.inference.check_prob(system.get_state(), "i_u", "Want(A)",
0.090)
TestRule2.inference.check_prob(system.get_state(), "i_u", "Want(B)",
0.91)
TestRule2.inference.check_prob(system.get_state(), "a_u^p", "Ask(B)",
0.91 * 0.9)
TestRule2.inference.check_prob(system.get_state(), "a_u^p", "Ask(A)",
0.09 * 0.9)
TestRule2.inference.check_prob(system.get_state(), "a_u^p", "None",
0.1)
TestRule2.inference.check_prob(system.get_state(), "a_u", "Ask(B)",
0.918)
TestRule2.inference.check_prob(system.get_state(), "a_u", "None",
0.081)
EquivalenceDistribution.none_prob = eq_factor
StatePruner.value_pruning_threshold = old_prune_threshold
def test_1(self):
domain = XMLDomainReader.extract_domain(TestRule3.test1_domain_file)
inference = InferenceChecks()
inference.exact_threshold = 0.06
system = DialogueSystem(domain)
system.get_settings().show_gui = False
system.detach_module(ForwardPlanner)
StatePruner.enable_reduction = False
system.start_system()
inference.check_prob(system.get_state(), "found", "A", 0.7)
inference.check_prob(system.get_state(), "found2", "D", 0.3)
inference.check_prob(system.get_state(), "found2", "C", 0.5)
StatePruner.enable_reduction = True
def test_state_copy2(self):
InferenceChecks.exact_threshold = 0.08
system = DialogueSystem(TestDialogueState.domain)
system.get_settings().show_gui = False
system.detach_module(ForwardPlanner)
system.start_system()
initial_state = copy(system.get_state())
TestDialogueState.inference.check_prob(initial_state, "a_u2",
"[HowAreYou]", 0.2)
TestDialogueState.inference.check_prob(initial_state, "a_u2",
"[Greet, HowAreYou]", 0.7)
TestDialogueState.inference.check_prob(initial_state, "a_u2", "[]",
0.1)
def test_3(self):
InferenceChecks.exact_threshold = 0.06
system = DialogueSystem(TestRule1.domain)
system.detach_module(ForwardPlanner)
StatePruner.enable_reduction = False
system.get_settings().show_gui = False
system.start_system()
TestRule1.inference.check_prob(system.get_state(), "direction",
"straight", 0.79)
TestRule1.inference.check_prob(system.get_state(), "direction", "left",
0.20)
TestRule1.inference.check_prob(system.get_state(), "direction",
"right", 0.01)
StatePruner.enable_reduction = True
def test_2(self):
inference = InferenceChecks()
domain = XMLDomainReader.extract_domain(TestRule3.test2_domain_file)
system = DialogueSystem(domain)
system.get_settings().show_gui = False
system.detach_module(ForwardPlanner)
StatePruner.enable_reduction = False
system.start_system()
inference.check_prob(system.get_state(), "graspable(obj1)", "True", 0.81)
inference.check_prob(system.get_state(), "graspable(obj2)", "True", 0.16)
inference.check_util(system.get_state(), "a_m'", "grasp(obj1)", 0.592)
StatePruner.enable_reduction = True
def test_param_2(self):
InferenceChecks.exact_threshold = 0.1
system = DialogueSystem(TestParameters.domain1)
system.detach_module(ForwardPlanner)
system.get_settings().show_gui = False
assert system.get_state().has_chance_node("theta_3")
TestParameters.inference.check_cdf(system.get_state(), "theta_3", 0.6, 0.0)
TestParameters.inference.check_cdf(system.get_state(), "theta_3", 0.8, 0.5)
TestParameters.inference.check_cdf(system.get_state(), "theta_3", 0.95, 1.0)
system.start_system()
system.add_content("u_u", "brilliant")
distrib = system.get_content("a_u")
assert distrib.get_prob("approval") == pytest.approx(0.8, abs=0.05)
def test_2(self):
system = DialogueSystem(TestRule2.domain)
system.get_settings().show_gui = False
system.detach_module(ForwardPlanner)
eq_factor = EquivalenceDistribution.none_prob
EquivalenceDistribution.none_prob = 0.1
old_prune_threshold = StatePruner.value_pruning_threshold
StatePruner.value_pruning_threshold = 0.0
system.start_system()
TestRule2.inference.check_prob(system.get_state(), "u_u2^p", "Do A",
0.216)
TestRule2.inference.check_prob(system.get_state(), "u_u2^p",
"Please do C", 0.027)
TestRule2.inference.check_prob(system.get_state(), "u_u2^p",
"Could you do B?", 0.054)
TestRule2.inference.check_prob(system.get_state(), "u_u2^p",
"Could you do A?", 0.162)
TestRule2.inference.check_prob(system.get_state(), "u_u2^p", "none",
0.19)
builder = CategoricalTableBuilder("u_u2")
builder.add_row("Please do B", 0.4)
builder.add_row("Do B", 0.4)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
system.add_content(builder.build())
TestRule2.inference.check_prob(system.get_state(), "i_u2", "Want(B)",
0.654)
TestRule2.inference.check_prob(system.get_state(), "i_u2", "Want(A)",
0.1963)
TestRule2.inference.check_prob(system.get_state(), "i_u2", "Want(C)",
0.0327)
TestRule2.inference.check_prob(system.get_state(), "i_u2", "none",
0.1168)
EquivalenceDistribution.none_prob = eq_factor
StatePruner.value_pruning_threshold = old_prune_threshold
def test_param_1(self):
InferenceChecks.exact_threshold = 0.1
system = DialogueSystem(TestParameters.domain1)
system.detach_module(ForwardPlanner)
system.get_settings().show_gui = False
assert system.get_state().has_chance_node("theta_1")
TestParameters.inference.check_cdf(system.get_state(), "theta_1", 0.5, 0.5)
TestParameters.inference.check_cdf(system.get_state(), "theta_1", 5., 0.99)
TestParameters.inference.check_cdf(system.get_state(), "theta_2", 1., 0.07)
TestParameters.inference.check_cdf(system.get_state(), "theta_2", 2., 0.5)
system.start_system()
system.add_content("u_u", "hello there")
utils = ((SamplingAlgorithm()).query_util(system.get_state(), "u_m'"))
assert utils.get_util(Assignment("u_m'", "yeah yeah talk to my hand")) > 0
assert utils.get_util(Assignment("u_m'", "so interesting!")) > 1.7
assert utils.get_util(Assignment("u_m'", "yeah yeah talk to my hand")) < utils.get_util(Assignment("u_m'", "so interesting!"))
assert len(system.get_state().get_node_ids()) == 11
def test_6(self):
InferenceChecks.exact_threshold = 0.06
system = DialogueSystem(TestRule1.domain)
system.detach_module(ForwardPlanner)
system.get_settings().show_gui = False
system.start_system()
builder = CategoricalTableBuilder("var1")
builder.add_row("value2", 0.9)
system.add_content(builder.build())
TestRule1.inference.check_prob(system.get_state(), "o",
"and we have var1=value2", 0.9)
TestRule1.inference.check_prob(system.get_state(), "o",
"and we have localvar=value1", 0.05)
TestRule1.inference.check_prob(system.get_state(), "o",
"and we have localvar=value3", 0.04)
StatePruner.enable_reduction = True
def test_param_5(self):
system = DialogueSystem(TestParameters.domain2)
system.detach_module(ForwardPlanner)
system.get_settings().show_gui = False
system.start_system()
rules = TestParameters.domain2.get_models()[0].get_rules()
outputs = rules[0].get_output(Assignment("u_u", "brilliant"))
o = Effect(BasicEffect("a_u", "approval"))
assert isinstance(outputs.get_parameter(o), ComplexParameter)
input = Assignment([Assignment("theta_6", 2.1), Assignment("theta_7", 1.3)])
assert outputs.get_parameter(o).get_value(input) == pytest.approx(0.74, abs=0.01)
system.get_state().remove_nodes(system.get_state().get_action_node_ids())
system.get_state().remove_nodes(system.get_state().get_utility_node_ids())
system.add_content("u_u", "brilliant")
assert system.get_state().query_prob("theta_6").to_continuous().get_function().get_mean()[0] == pytest.approx(1.0, abs=0.08)
assert system.get_content("a_u").get_prob("approval") == pytest.approx(0.63, abs=0.08)
assert system.get_content("a_u").get_prob("irony") == pytest.approx(0.3, abs=0.08)
def test_param1(self):
domain = XMLDomainReader.extract_domain(TestDemo.domain_file)
params = XMLStateReader.extract_bayesian_network(
TestDemo.param_file, "parameters")
domain.set_parameters(params)
system = DialogueSystem(domain)
system.get_settings().show_gui = False
system.detach_module(ForwardPlanner)
system.get_settings().show_gui = False
system.start_system()
system.add_content("a_m", "AskRepeat")
t = CategoricalTableBuilder("a_u")
t.add_row("DoA", 0.7)
t.add_row("a_u", 0.2)
t.add_row("a_u", 0.1)
system.add_content(t.build())
for i in range(3000):
print((system.get_state().get_chance_node("theta").sample()
).get_array()[0])
def test_4(self):
domain2 = XMLDomainReader.extract_domain(TestRule2.domain_file2)
system2 = DialogueSystem(domain2)
system2.get_settings().show_gui = False
system2.detach_module(ForwardPlanner)
system2.start_system()
TestRule2.inference.check_util(
system2.get_state(), ["a_m3'", "obj(a_m3)'"],
Assignment(
[Assignment("a_m3'", "Do"),
Assignment("obj(a_m3)'", "A")]), 0.3)
TestRule2.inference.check_util(
system2.get_state(), ["a_m3'", "obj(a_m3)'"],
Assignment(
[Assignment("a_m3'", "Do"),
Assignment("obj(a_m3)'", "B")]), -1.7)
TestRule2.inference.check_util(
system2.get_state(), ["a_m3'", "obj(a_m3)'"],
Assignment([
Assignment("a_m3'", "SayHi"),
Assignment("obj(a_m3)'", "None")
]), -0.9)
def test_simulator(self):
system = DialogueSystem()
nr_samples = Settings.nr_samples
Settings.nr_samples = nr_samples / 5.0
out_break = False
for k in range(3):
if out_break:
break
system = DialogueSystem(
XMLDomainReader.extract_domain(TestSimulator.main_domain))
if k > 0:
self.log.warning("restarting the simulator...")
pass
system.get_domain().get_models().pop(0)
system.get_domain().get_models().pop(0)
system.get_domain().get_models().pop(0)
sim_domain2 = XMLDomainReader.extract_domain(
TestSimulator.sim_domain)
sim = Simulator(system, sim_domain2)
system.attach_module(sim)
# NEED GUI
system.get_settings().show_gui = False
system.start_system()
for i in range(40):
if system.get_module(Simulator) is None:
break
sleep(0.2)
# NEED DialogueRecorder
str = system.get_module(DialogueRecorder).get_record()
try:
self.check_condition(str)
system.detach_module(Simulator)
out_break = True
break
except:
pass
if not out_break:
system.detach_module(Simulator)
# NEED DialogueRecorder
self.check_condition(system.get_module(DialogueRecorder).get_record())
system.detach_module(Simulator)
system.pause(True)
Settings.nr_samples = nr_samples * 5
def test_reward_learner(self):
system = DialogueSystem()
Settings.nr_samples = Settings.nr_samples * 2
out_break = False
for k in range(3):
if out_break is True:
break
if k > 0:
# log message
pass
system = DialogueSystem(
XMLDomainReader.extract_domain(TestSimulator.main_domain2))
sim_domain3 = XMLDomainReader.extract_domain(
TestSimulator.sim_domain2)
sim = Simulator(system, sim_domain3)
system.attach_module(sim)
# NEED GUI
system.get_settings().show_gui = False
system.start_system()
for i in range(20):
if system.get_module(Simulator) is None:
break
sleep(0.1)
try:
self.check_condition2(system)
system.detach_module(Simulator)
out_break = True
break
except:
assert False
system.detach_module(Simulator)
self.check_condition2(system)
system.detach_module(Simulator)
system.pause(True)
theta_correct = system.get_content(
"theta_correct").to_continuous().get_function()
theta_incorrect = system.get_content(
"theta_incorrect").to_continuous().get_function()
theta_repeat = system.get_content(
"theta_repeat").to_continuous().get_function()
self.log.debug("theta_correct %s" % theta_correct)
self.log.debug("theta_incorrect %s" % theta_incorrect)
self.log.debug("theta_repeat %s" % theta_repeat)
Settings.nr_samples = Settings.nr_samples / 2.0
def test_domain(self):
system = DialogueSystem(
XMLDomainReader.extract_domain(
"test/data/example-step-by-step_params.xml"))
system.detach_module(ForwardPlanner)
system.get_settings().show_gui = False
system.start_system()
o1 = CategoricalTableBuilder("u_u")
o1.add_row("move a little bit left", 0.4)
o1.add_row("please move a little right", 0.3)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Left)")) == pytest.approx(-0.1, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("move a little bit left", 0.5)
o1.add_row("please move a little left", 0.2)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Left)")) == pytest.approx(0.2, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("now move right please", 0.8)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Right)")) == pytest.approx(0.3, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("move left", 0.7)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Left)")) == pytest.approx(0.2, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("turn left", 0.32)
o1.add_row("move left again", 0.3)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Left)")) == pytest.approx(0.1, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("and do that again", 0.0)
system.add_content(o1.build())
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("turn left", 1.0)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Left)")) == pytest.approx(0.5, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("turn right", 0.4)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Right)")) == pytest.approx(-0.1, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("please turn right", 0.8)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Right)")) == pytest.approx(0.3, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
o1 = CategoricalTableBuilder("u_u")
o1.add_row("and turn a bit left", 0.3)
o1.add_row("move a bit left", 0.3)
system.add_content(o1.build())
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "AskRepeat")) == pytest.approx(0.0, abs=0.3)
assert system.get_state().query_util(["a_m'"]).get_util(
Assignment("a_m'", "Move(Left)")) == pytest.approx(0.1, abs=0.15)
system.get_state().remove_nodes(
system.get_state().get_action_node_ids())
system.get_state().remove_nodes(
system.get_state().get_utility_node_ids())
