def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
"*** YOUR CODE HERE ***"
# explain: implement max level heuristic
# expand the graph with out mutexs until the goal is reached,
# the heuristic value is the number of levels need to reach the goal
pg = state
Graph = []
Graph.append(pg)
Level = 0
pgNext = pg
isRepeat = False
isGoal = False
while not isGoal and not isRepeat:
# expand next level without mutexs
pgPrev = pgNext
pgNext = PlanGraphLevel()
pgNext.expandWithoutMutex(pgPrev)
Graph.append(pgNext)
Level += 1
# check if level expansion is in 'levels-off' state
# if isFixed() function return true' check if the current level was aread reached in a previous graph history
# if so, we are in a loop state and the heuristic value should be 'inf'
if isFixed(Graph, Level):
pgNextPropositions = pgNext.getPropositionLayer().getPropositions()
isRepeat = True
for Hist in range(Level - 1):
HistLevelPropositions = Graph[Hist].getPropositionLayer(
).getPropositions()
for prop in pgNextPropositions:
if prop not in HistLevelPropositions:
isRepeat = False
isGoal = not problem.goalStateNotInPropLayer(
pgNext.propositionLayer.propositions)
h = Level
if isRepeat and not isGoal:
h = float('inf')
return h
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
"*** YOUR CODE HERE ***"
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
level = 0;
while not problem.isGoalState(pgInit.getPropositionLayer().getPropositions()):
level += 1
## Expand to the next leyer
prevLayerSize = len(pgInit.getPropositionLayer().getPropositions())
pgInit.expandWithoutMutex(pgInit)
## Check if the expanded leyer is the same leyer as before
if len(pgInit.getPropositionLayer().getPropositions()) == prevLayerSize:
return float("inf")
return level
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
level = 0
sumLevel = 0
currentGoals = set(copy.copy(problem.goal))
while currentGoals: #TODO: Changed: run until all goals found/no solution possible
#check for new goals achieved
goalsInHand = set(pgInit.getPropositionLayer().getPropositions()) & currentGoals
if goalsInHand:
sumLevel += len(goalsInHand) * level;
currentGoals -= goalsInHand;
level += 1
## Expand to the next leyer
prevLayerSize = len(pgInit.getPropositionLayer().getPropositions())
pgInit.expandWithoutMutex(pgInit)
## Check if the expanded leyer is the same leyer as before
if len(pgInit.getPropositionLayer().getPropositions()) == prevLayerSize:
return float("inf")
return sumLevel
def __init__(self, domain, problem): """ Constructor """ p = Parser(domain, problem) self.actions, self.propositions = p.parseActionsAndPropositions() # list of all the actions and list of all the propositions self.initialState, self.goal = p.pasreProblem() # the initial state and the goal state are lists of propositions self.createNoOps() # creates noOps that are used to propagate existing propositions from one layer to the next PlanGraphLevel.setActions(self.actions) PlanGraphLevel.setProps(self.propositions) self._expanded = 0
def __init__(self, domain, problem): """ Constructor """ p = Parser(domain, problem) self.actions, self.propositions = p.parseActionsAndPropositions() # list of all the actions and list of all the propositions self.initialState, self.goal = p.pasreProblem() # the initial state and the goal state are lists of propositions self.createNoOps() # creates noOps that are used to propagate existing propositions from one layer to the next PlanGraphLevel.setActions(self.actions) PlanGraphLevel.setProps(self.propositions) self._expanded = 0
def getStartState(self):
"*** YOUR CODE HERE ***"
# explain: A state is a planGraphLevel,
# and here I am building a level with the initial state propositions
propLayerInit = PropositionLayer()
for prop in self.initialState:
propLayerInit.addProposition(prop)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
return pgInit
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
propLayerInit = PropositionLayer()
for prop in state:
propLayerInit.addProposition(prop)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
graph = [] # list of PlanGraphLevel objects
graph.append(pgInit)
level = 0
while True:
# check if this level has the goal
if problem.goalStateNotInPropLayer(graph[level].getPropositionLayer().getPropositions()):
break
# else if the goal is not in this level, and we finished to max graph, meens we vant reach the goal.
elif isFixed(graph, level):
return float('inf')
pgNext = PlanGraphLevel()
pgNext.expandWithoutMutex(graph[level])
graph.append(pgNext)
level += 1
# if we got into break meens last level contain goal. So lets return the level.
return level
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
level = 0
graph = []
initial_prop_layer = PropositionLayer()
for prop in state:
initial_prop_layer.addProposition(prop)
curr_graph_level = PlanGraphLevel()
curr_graph_level.setPropositionLayer(initial_prop_layer)
graph.append(curr_graph_level)
while not problem.isGoalState(
graph[level].getPropositionLayer().getPropositions()):
if isFixed(graph, level):
return float('inf')
level += 1
next_level = PlanGraphLevel()
next_level.expandWithoutMutex(graph[level - 1])
graph.append(next_level)
return level
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
"*** YOUR CODE HERE ***"
propLayerInit = PropositionLayer()
for prop in state:
propLayerInit.addProposition(prop)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
level = 0
graph = []
graph.append(pgInit)
while not problem.isGoalState(
graph[level].getPropositionLayer().getPropositions()):
level += 1
pgNext = PlanGraphLevel()
pgNext.expandWithoutMutex(graph[level - 1])
graph.append(pgNext)
return level
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
""" this is copy paste from graph plan algorithm, with small change in loop definition and disabling of mutex """
propLayerInit = PropositionLayer() # create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) # update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() # create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit)
graph = []
sum_sub_goals = 0
level = 0
graph.append(pgInit)
while problem.goalStateNotInPropLayer(graph[level].getPropositionLayer().getPropositions()):
if isFixed(graph, level):
return float("inf") # this means we stopped the while loop above because we reached a fixed point in the graph. nothing more to do, we failed!
if problem.isSubGoal(graph[level].getPropositionLayer().getPropositions()): # if we have sub goal here. count it
sum_sub_goals += 1
level += 1
pgNext = PlanGraphLevel() # create new PlanGraph object
pgNext.expandWithoutMutex(graph[level - 1]) # calls the expand function, which you are implementing in the PlanGraph class
graph.append(pgNext) # appending the new level to the plan graph
sum_sub_goals += 1 # the latest full sub goal that is equals goal, we take it to attention too
return sum_sub_goals
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
"*** YOUR CODE HERE ***"
propLayerInit = PropositionLayer() #create a new proposition layer
# initialize the propositions
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
currentLevel = pgInit
level = 0
sum = 0
graph = list()
graph.append(currentLevel)
goals = copy.deepcopy(problem.goal)
while(len(goals) > 0):
if isFixed(graph, level):
return float("inf")
layer = currentLevel.getPropositionLayer().getPropositions()
for prop in layer:
if prop in goals:
sum = sum + level
goals.remove(prop)
nextLevel = PlanGraphLevel()
nextLevel.expandWithoutMutex(graph[level])
level = level + 1
graph.append(nextLevel)
currentLevel = nextLevel
return sum
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
level = 0
sum = 0
graph = []
goals = [goal for goal in problem.goal]
initial_prop_layer = PropositionLayer()
for prop in state:
initial_prop_layer.addProposition(prop)
initial_level = PlanGraphLevel()
initial_level.setPropositionLayer(initial_prop_layer)
graph.append(initial_level)
while len(goals) > 0:
if isFixed(graph, level):
return float('inf')
for goal in goals:
if goal in graph[level].getPropositionLayer().getPropositions():
sum += level
goals.remove(goal)
level += 1
next_level = PlanGraphLevel()
next_level.expandWithoutMutex(graph[level - 1])
graph.append(next_level)
return sum
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
""" this is copy paste from graph plan algorithm, with small change in loop definition and disabling of mutex """
propLayerInit = PropositionLayer() # create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) # update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() # create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit)
graph = []
level = 0
graph.append(pgInit)
while problem.goalStateNotInPropLayer(graph[level].getPropositionLayer().getPropositions()):
if isFixed(graph, level):
return float("inf") # this means we stopped the while loop above because we reached a fixed point in the graph. nothing more to do, we failed!
level = level + 1
pgNext = PlanGraphLevel() # create new PlanGraph object
pgNext.expandWithoutMutex(graph[level - 1]) # calls the expand function, which you are implementing in the PlanGraph class
graph.append(pgNext) # appending the new level to the plan graph
return level
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
"*** YOUR CODE HERE ***"
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
currentLevel = pgInit
level = 0
graph = list()
graph.append(currentLevel)
while(problem.goalStateNotInPropLayer(graph[level].getPropositionLayer().getPropositions())):
newLevel = PlanGraphLevel()
newLevel.expandWithoutMutex(graph[level])
level += 1
graph.append(newLevel)
currentLevel = newLevel
if isFixed(graph, level):
return float("inf")
return level
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
"*** YOUR CODE HERE ***"
propLayerInit = PropositionLayer()
for prop in state:
propLayerInit.addProposition(prop)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
level = 0
sum = 0
graph = []
goals = [goal for goal in problem.goal]
graph.append(pgInit)
while len(goals) > 0:
for goal in goals:
if goal in graph[level].getPropositionLayer().getPropositions():
sum += level
goals.remove(goal)
level += 1
pgNext = PlanGraphLevel()
pgNext.expandWithoutMutex(graph[level - 1])
graph.append(pgNext)
return sum
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
level = 0
propLayerInit = PropositionLayer()
# Add all propositions in current state to proposition layer
for p in state:
propLayerInit.addProposition(p)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
# Graph is a list of PlanGraphLevel objects
graph = []
graph.append(pgInit)
# While goal state is not in proposition layer, keep expanding
while problem.goalStateNotInPropLayer(
graph[level].getPropositionLayer().getPropositions()):
# If the graph has not changed between expansions, we should halt
if isFixed(graph, level):
return float('inf')
level += 1
pgNext = PlanGraphLevel()
# Expand without mutex (relaxed version of problem)
pgNext.expandWithoutMutex(graph[level - 1])
graph.append(pgNext)
return level
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
def nextPlan(plan):
next_plan = PlanGraphLevel()
next_plan.expandWithoutMutex(plan)
return next_plan, next_plan.getPropositionLayer().getPropositions()
propLayerInit = PropositionLayer()
# add all to the new proposition layer
lmap(propLayerInit.addProposition, state)
plan = PlanGraphLevel()
plan.setPropositionLayer(propLayerInit)
plan_propositions = plan.getPropositionLayer().getPropositions()
# create a graph that will store all the plan levels
graph = []
graph.append(plan)
goals_levels = dict()
goal = problem.goal
# init goals levels
for p in goal:
goals_levels[p.getName()] = None
# as long as we have for one of the goal None we didnt find the first level
while None in goals_levels.values():
# if fixed we won't have a solution
if isFixed(graph, len(graph) - 1):
return float('inf')
# for each prop in the goal check if exist on the current plan
# propositions
for p in goal:
# check that we didnt assign a value yet
if p in plan_propositions and goals_levels[p.getName()] == None:
# set the current level as the fist appearance of the prop
goals_levels[p.getName()] = len(graph) - 1
# create the next plan by the prev
plan, plan_propositions = nextPlan(plan)
# store in the graph
graph.append(plan)
return sum(goals_levels.values())
def graphPlan(self):
"""
The graphplan algorithm.
The code calls the extract function which you should complete below
"""
#initialization
initState = self.initialState
level = 0
self.noGoods = [] #make sure you update noGoods in your backward search!
self.noGoods.append([])
#create first layer of the graph, note it only has a proposition layer which consists of the initial state.
propLayerInit = PropositionLayer()
for prop in initState:
propLayerInit.addProposition(prop)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
self.graph.append(pgInit)
"""
While the layer does not contain all of the propositions in the goal state,
or some of these propositions are mutex in the layer we,
and we have not reached the fixed point, continue expanding the graph
"""
while self.goalStateNotInPropLayer(self.graph[level].getPropositionLayer().getPropositions()) or \
self.goalStateHasMutex(self.graph[level].getPropositionLayer()):
if self.isFixed(level):
return None #this means we stopped the while loop above because we reached a fixed point in the graph. nothing more to do, we failed!
self.noGoods.append([])
level = level + 1
pgNext = PlanGraphLevel() #create new PlanGraph object
pgNext.expand(self.graph[level - 1]) #calls the expand function, which you are implementing in the PlanGraph class
self.graph.append(pgNext) #appending the new level to the plan graph
sizeNoGood = len(self.noGoods[level]) #remember size of nogood table
plan = self.extract(self.graph, self.goal, level) #try to extract a plan since all of the goal propositions are in current graph level, and are not mutex
while(plan is None): #while we didn't extract a plan successfully
level = level + 1
self.noGoods.append([])
pgNext = PlanGraphLevel() #create next level of the graph by expanding
pgNext.expand(self.graph[level - 1]) #create next level of the graph by expanding
self.graph.append(pgNext)
plan = self.extract(self.graph, self.goal, level) #try to extract a plan again
if (plan is None and self.isFixed(level)): #if failed and reached fixed point
if sizeNoGood == len(self.noGoods[level]): #if size of nogood didn't change, means there's nothing more to do. We failed.
return None
sizeNoGood = len(self.noGoods[level]) #we didn't fail yet! update size of no good
return plan
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
#update the proposition layer with the propositions of the state
propLayerInit.addProposition(prop)
# create a new plan graph level (level is the action layer and the
# propositions layer)
pgInit = PlanGraphLevel()
#update the new plan graph level with the the proposition layer
pgInit.setPropositionLayer(propLayerInit)
"""
def nextPlan(plan):
next_plan = PlanGraphLevel()
next_plan.expandWithoutMutex(plan)
return next_plan, next_plan.getPropositionLayer().getPropositions()
propLayerInit = PropositionLayer()
# add all to the new proposition layer
lmap(propLayerInit.addProposition, state)
plan = PlanGraphLevel()
plan.setPropositionLayer(propLayerInit)
plan_propositions = plan.getPropositionLayer().getPropositions()
# create a graph that will store all the plan levels
graph = []
graph.append(plan)
# if we found we can rest
while not problem.isGoalState(plan_propositions):
# if fixed we won't have a solution
if isFixed(graph, len(graph) - 1):
return float('inf')
# create the next plan by the prev
plan, plan_propositions = nextPlan(plan)
# store in the graph
graph.append(plan)
return len(graph) - 1
def maxLevel(state, problem):
""" El valor de la heurística es el número de capas
necesarias para expandir todas las proposiciones de gol.
Si el objetivo no es alcanzable desde el estado de su
heurística debe volver float('inf') """
level = 0
propLayerInit = PropositionLayer()
# Añadir todas las proposiciones en el estado actual en la propositionLayer
for p in state:
propLayerInit.addProposition(p)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
# El Grafo es una lista de objetos PlanGraphLevel
graph = []
graph.append(pgInit)
# Mientras que el estado objetivo no está en la capa proposición, seguimos expandiendolo
while problem.goalStateNotInPropLayer(graph[level].getPropositionLayer().getPropositions()):
# Si el grafo no ha cambiado entre expansiones, lo detenemos.
if isFixed(graph, level):
return float('inf')
level += 1
pgNext = PlanGraphLevel()
# Expandir sin mutex (versión relajada de problema)
pgNext.expandWithoutMutex(graph[level-1])
graph.append(pgNext)
return level
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
level = 0
propLayerInit = PropositionLayer()
# Add all propositions in current state to proposition layer
for p in state:
propLayerInit.addProposition(p)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
# Graph is a list of PlanGraphLevel objects
graph = []
graph.append(pgInit)
# While goal state is not in proposition layer, keep expanding
while problem.goalStateNotInPropLayer(graph[level].getPropositionLayer().getPropositions()):
# If the graph has not changed between expansions, we should halt
if isFixed(graph, level):
return float('inf')
level += 1
pgNext = PlanGraphLevel()
# Expand without mutex (relaxed version of problem)
pgNext.expandWithoutMutex(graph[level-1])
graph.append(pgNext)
return level
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
level = 0
graph = []
initial_prop_layer = PropositionLayer()
for prop in state:
initial_prop_layer.addProposition(prop)
curr_graph_level = PlanGraphLevel()
curr_graph_level.setPropositionLayer(initial_prop_layer)
graph.append(curr_graph_level)
while not problem.isGoalState(graph[level].getPropositionLayer().getPropositions()):
if isFixed(graph, level):
return float('inf')
level += 1
next_level = PlanGraphLevel()
next_level.expandWithoutMutex(graph[level-1])
graph.append(next_level)
return level
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
level = 0
sum = 0
graph = []
goals = [goal for goal in problem.goal]
initial_prop_layer = PropositionLayer()
for prop in state:
initial_prop_layer.addProposition(prop)
initial_level = PlanGraphLevel()
initial_level.setPropositionLayer(initial_prop_layer)
graph.append(initial_level)
while len(goals) > 0:
if isFixed(graph, level):
return float('inf')
for goal in goals:
if goal in graph[level].getPropositionLayer().getPropositions():
sum += level
goals.remove(goal)
level += 1
next_level = PlanGraphLevel()
next_level.expandWithoutMutex(graph[level-1])
graph.append(next_level)
return sum
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
total = 0
propLayerInit = PropositionLayer()
for prop in state:
propLayerInit.addProposition(prop)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
g = [pgInit]
level = 0
while len(problem.goal) > 0:
if isFixed(g, level):
return float("inf")
for goal in problem.goal:
if goal in g[level].getPropositionLayer().getPropositions():
problem.goal.remove(goal)
total += level
nextPlanGraphLevel = PlanGraphLevel()
nextPlanGraphLevel.expandWithoutMutex(g[level])
level += 1
g.append(nextPlanGraphLevel)
return total
def graphPlan(self): #El algoritmo graphplan en sí #Inicialización initState = self.initialState level = 0 self.noGoods = [] self.noGoods.append([]) #Crea la primera capa del grafo, que no consiste más que en el estado inicial propLayerInit = PropositionLayer() for prop in initState: propLayerInit.addProposition(prop) pgInit = PlanGraphLevel() pgInit.setPropositionLayer(propLayerInit) self.graph.append(pgInit) #Mientras que la capa no contiene todos los estados del estado final buscado (o están mutex) continuamos expandiendo el grafo while self.goalStateNotInPropLayer(self.graph[level].getPropositionLayer().getPropositions()) or \ self.goalStateHasMutex(self.graph[level].getPropositionLayer()): if self.isFixed(level): return None #Si llegamos aquí paramos porque significa que hemos llegado a un fixed point en el grafo, así que no podemos hacer nada más self.noGoods.append([]) level = level + 1 #Actualizamos el nivel pgNext = PlanGraphLevel() #Crea un nuevo objeto GraphPlan pgNext.expand(self.graph[level - 1]) #Llama a la función expandir self.graph.append(pgNext) #Une el nuevo nivel generado con el graphplan sizeNoGood = len(self.noGoods[level]) plan = self.extract(self.graph, self.goal, level) #Intentamos hallar un plan (si todos los estados objetivos están en este nivel y no están mutex) while(plan is None): #Hacemos esto mientras no podemos encontrar un plan level = level + 1 self.noGoods.append([]) pgNext = PlanGraphLevel() #Crea el próximo nivel del grafo pgNext.expand(self.graph[level - 1]) #Y ahora lo expande self.graph.append(pgNext) plan = self.extract(self.graph, self.goal, level) #Intentamos econtrar el plan if (plan is None and self.isFixed(level)): #Si fallamos y encontramos un punto un fixed point if sizeNoGood == len(self.noGoods[level]): #Si el tamaño de noGood no cambia significa que hemos fallado y no hay plan return None sizeNoGood = len(self.noGoods[level]) #Si no, significa que aún podemos encontrar el plan y actualizamos el tamaño de noGood return plan
def getSuccessors(self, state):
"""
For a given state, this should return a list of triples,
(successor, action, stepCost), where 'successor' is a
successor to the current state, 'action' is the action
required to get there, and 'stepCost' is the incremental
cost of expanding to that successor, 1 in our case.
You might want to this function:
For a list of propositions l and action a,
a.allPrecondsInList(l) returns true if the preconditions of a are in l
"""
self._expanded += 1
"*** YOUR CODE HERE ***"
# explain: Successors are the list of actions can be done from the current level
# I build the action lyer using pgNext.updateActionLayer
# then for each action I build a the Level that wholud have been created if only this action was selected
Successors = []
pg = state
previousPropositionLayer = pg.getPropositionLayer()
previousLayerPropositions = previousPropositionLayer.propositions
pgNext = PlanGraphLevel()
pgNext.updateActionLayer(previousPropositionLayer)
for Action in pgNext.actionLayer.actions:
if Action.isNoOp():
continue
pgNextAction = PlanGraphLevel()
pgNextAction.actionLayer.addAction(Action)
for prop in previousLayerPropositions:
pgNextAction.propositionLayer.addProposition(prop)
for prop in Action.getAdd():
new_prop = Proposition(prop.getName())
new_prop.addProducer(Action)
pgNextAction.propositionLayer.addProposition(new_prop)
for prop in Action.getDelete():
pgNextAction.propositionLayer.removePropositions(prop)
pgNextAction.updateMutexProposition()
Successors.append((pgNextAction, Action, 1))
return Successors
def expansionGenerator(state, problem):
"""
Generates and yields the propositions in each level,
Until the graph becomes fixed.
"""
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
graph = [pgInit]
count = 0
while not isFixed(graph, count):
props = graph[count].getPropositionLayer().getPropositions()
yield count, props
pgNext = PlanGraphLevel()
pgNext.expandWithoutMutex(graph[count])
graph.append(pgNext)
count += 1
def __init__(self,domain, problem): #Constructor de la clase self.independentActions = set() self.noGoods = [] self.graph = [] p = Parser(domain, problem) self.actions, self.propositions = p.parseActionsAndPropositions() #Listado de todas las acciones y estados self.initialState, self.goal = p.pasreProblem() #El estado iniacial y el objetivo (que son una lista de estados) self.createNoOps() #Crea el noOps que se usa para propagar estados de una capa a la siguiente self.independent() #Crea el listado de acciones independent y actualiza self.independentActions PlanGraphLevel.setIndependentActions(self.independentActions) PlanGraphLevel.setActions(self.actions) PlanGraphLevel.setProps(self.propositions)
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
propLayerInit = PropositionLayer()
for p in state:
propLayerInit.addProposition(p)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
graph = [] # list of PlanGraphLevel objects
graph.append(pgInit)
goals = problem.goal[:]
level = 0
sum_ = 0
# keep expanding as long as we still have goal states we didn't see
while goals:
if isFixed(graph, level):
# if the graph is fixed and expansions didn't change in the last level, it means that we can't reach
# the goal state, and we return infinity
return float('inf')
props = graph[level].getPropositionLayer().getPropositions()
for goal in goals:
if goal in props:
# each goal state that we run into, we should add to the sum, and remove it from the goals we need to see
sum_ += level
goals.remove(goal)
pg = PlanGraphLevel()
# expanding using a easier version of the problem - without mutexes
pg.expandWithoutMutex(graph[level])
graph.append(pg)
level += 1
sum_ += level
return sum_
def __init__(self,domain, problem):
"""
Constructor
"""
self.independentActions = []
self.noGoods = []
self.graph = []
p = Parser(domain, problem)
self.actions, self.propositions = p.parseActionsAndPropositions() # list of all the actions and list of all the propositions
self.initialState, self.goal = p.pasreProblem() # the initial state and the goal state are lists of propositions
self.createNoOps() # creates noOps that are used to propagate existing propositions from one layer to the next
self.independent() # creates independent actions list and updates self.independentActions
PlanGraphLevel.setIndependentActions(self.independentActions)
PlanGraphLevel.setActions(self.actions)
PlanGraphLevel.setProps(self.propositions)
def __init__(self,domain, problem): """ Constructor """ self.independentActions = [] self.noGoods = [] self.graph = [] p = Parser(domain, problem) self.actions, self.propositions = p.parseActionsAndPropositions() # list of all the actions and list of all the propositions self.initialState, self.goal = p.pasreProblem() # the initial state and the goal state are lists of propositions self.createNoOps() # creates noOps that are used to propagate existing propositions from one layer to the next self.independent() # creates independent actions list and updates self.independentActions PlanGraphLevel.setIndependentActions(self.independentActions) PlanGraphLevel.setActions(self.actions) PlanGraphLevel.setProps(self.propositions)
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
A good place to start would be:
propLayerInit = PropositionLayer() #create a new proposition layer
for prop in state:
propLayerInit.addProposition(prop) #update the proposition layer with the propositions of the state
pgInit = PlanGraphLevel() #create a new plan graph level (level is the action layer and the propositions layer)
pgInit.setPropositionLayer(propLayerInit) #update the new plan graph level with the the proposition layer
"""
propLayerInit = PropositionLayer()
for p in state:
propLayerInit.addProposition(p)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
graph = [] # list of PlanGraphLevel objects
graph.append(pgInit)
level = 0
# keep expanding as long as we don't hit the goal state
while problem.goalStateNotInPropLayer(
graph[level].getPropositionLayer().getPropositions()):
if isFixed(graph, level):
# if the graph is fixed and expansions didn't change in the last level, it means that we can't reach
# the goal state, and we return infinity
return float('inf')
pg = PlanGraphLevel()
# expanding using a easier version of the problem - without mutexes
pg.expandWithoutMutex(graph[level])
graph.append(pg)
level += 1
return level
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
propLayerInit = PropositionLayer()
for prop in state:
propLayerInit.addProposition(prop)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
graph = [] # list of PlanGraphLevel objects
graph.append(pgInit)
level = 0
leftGoals = problem.goal.copy()
level_sum = 0
while True:
# if leftGoals is empty, means we reached all the goals.
if len(leftGoals) == 0:
break
# else if the goal is not in this level, and we finished to max graph, meens we vant reach the goal.
elif isFixed(graph, level):
return float('inf')
props = graph[level].getPropositionLayer().getPropositions()
# check for each goal if it is in the next props. If so, remove it from the left golas, and add the level to the sum
for goal in leftGoals:
if goal in props:
level_sum += level
leftGoals.remove(goal)
pgTemp = PlanGraphLevel()
pgTemp.expandWithoutMutex(graph[level])
graph.append(pgTemp)
level += 1
# adding last level to the sum, and return it
level_sum += level
return level_sum
def maxLevel(state, problem):
"""
The heuristic value is the number of layers required to expand all goal propositions.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
newPropositionLayer = PropositionLayer()
[newPropositionLayer.addProposition(p) for p in state]
newPlanGraphLevel = PlanGraphLevel()
newPlanGraphLevel.setPropositionLayer(newPropositionLayer)
level = 0
g = [newPlanGraphLevel]
while problem.goalStateNotInPropLayer(g[level].getPropositionLayer().getPropositions()):
if isFixed(g, level):
return float("inf")
level += 1
nextPlanGraphLevel = PlanGraphLevel()
nextPlanGraphLevel.expandWithoutMutex(g[level - 1])
g.append(newPlanGraphLevel)
return level
def nextPlan(plan):
next_plan = PlanGraphLevel()
next_plan.expandWithoutMutex(plan)
return next_plan, next_plan.getPropositionLayer().getPropositions()
def graphPlan(self):
"""
The graphplan algorithm.
The code calls the extract function which you should complete below
"""
#initialization
initState = self.initialState
level = 0
self.noGoods = [
] #make sure you update noGoods in your backward search!
self.noGoods.append([])
#create first layer of the graph, note it only has a proposition layer which consists of the initial state.
propLayerInit = PropositionLayer()
for prop in initState:
propLayerInit.addProposition(prop)
pgInit = PlanGraphLevel()
pgInit.setPropositionLayer(propLayerInit)
self.graph.append(pgInit)
"""
While the layer does not contain all of the propositions in the goal state,
or some of these propositions are mutex in the layer we,
and we have not reached the fixed point, continue expanding the graph
"""
while self.goalStateNotInPropLayer(self.graph[level].getPropositionLayer().getPropositions()) or \
self.goalStateHasMutex(self.graph[level].getPropositionLayer()):
if self.isFixed(level):
return None #this means we stopped the while loop above because we reached a fixed point in the graph. nothing more to do, we failed!
self.noGoods.append([])
level = level + 1
pgNext = PlanGraphLevel() #create new PlanGraph object
pgNext.expand(
self.graph[level - 1]
) #calls the expand function, which you are implementing in the PlanGraph class
self.graph.append(
pgNext) #appending the new level to the plan graph
sizeNoGood = len(
self.noGoods[level]) #remember size of nogood table
plan = self.extract(
self.graph, self.goal, level
) #try to extract a plan since all of the goal propositions are in current graph level, and are not mutex
while (plan is None): #while we didn't extract a plan successfully
level = level + 1
self.noGoods.append([])
pgNext = PlanGraphLevel(
) #create next level of the graph by expanding
pgNext.expand(
self.graph[level -
1]) #create next level of the graph by expanding
self.graph.append(pgNext)
plan = self.extract(self.graph, self.goal,
level) #try to extract a plan again
if (plan is None and
self.isFixed(level)): #if failed and reached fixed point
if sizeNoGood == len(
self.noGoods[level]
): #if size of nogood didn't change, means there's nothing more to do. We failed.
return None
sizeNoGood = len(self.noGoods[level]
) #we didn't fail yet! update size of no good
return plan
def levelSum(state, problem):
"""
The heuristic value is the sum of sub-goals level they first appeared.
If the goal is not reachable from the state your heuristic should return float('inf')
"""
"*** YOUR CODE HERE ***"
# explain: implement max level heuristic
# expand the graph with out mutexs until the goal is reached,
# the heuristic value is the sum of the levels reached for each goal proposition
pg = state
Graph = []
Graph.append(pg)
Level = 0
Sum = 0
goal = copy.deepcopy(problem.goal)
pgNext = pg
isRepeat = False
isGoal = False
while not isGoal and not isRepeat:
# expand next level without mutexs
pgPrev = pgNext
pgNext = PlanGraphLevel()
pgNext.expandWithoutMutex(pgPrev)
Graph.append(pgNext)
Level += 1
# check if level expansion is in 'levels-off' state
# if isFixed() function return true' check if the current level was aread reached in a previous graph history
# if so, we are in a loop state and the heuristic value should be 'inf'
if isFixed(Graph, Level):
pgNextPropositions = pgNext.getPropositionLayer().getPropositions()
isRepeat = True
for Hist in range(Level - 1):
HistLevelPropositions = Graph[Hist].getPropositionLayer(
).getPropositions()
for prop in pgNextPropositions:
if prop not in HistLevelPropositions:
isRepeat = False
to_delete = []
for prop in goal:
if prop in pgNext.propositionLayer.propositions:
# add each goal level, and delete it from goal list
Sum += Level
to_delete.append(prop)
for prop in to_delete:
goal.remove(prop)
isGoal = len(goal) == 0
h = Sum
if isRepeat and not isGoal:
h = float('inf')
return h