def test_bogus_evaluation(self):
atom1 = ConceptNode("atom1")
eval_link = EvaluationLink(GroundedPredicateNode("py:foobar"),
atom1, atom1, atom1)
try:
evaluate_atom(self.space, eval_link)
self.assertFalse("call should fail")
except RuntimeError as e:
# Use `nosetests3 --nocapture` to see this print...
print("The exception message is " + str(e))
self.assertTrue("not found in module" in str(e))
def test_satisfy(self):
satisfaction_atom = SatisfactionLink(
VariableList(), # no variables
SequentialAndLink(
EvaluationLink(
GroundedPredicateNode("py: test_functions.stop_go"),
ListLink(
ConceptNode("green light")
)
),
EvaluationLink(
GroundedPredicateNode("py: test_functions.stop_go"),
ListLink(
ConceptNode("green light")
)
),
EvaluationLink(
GroundedPredicateNode("py: test_functions.stop_go"),
ListLink(
ConceptNode("red light")
)
),
EvaluationLink(
GroundedPredicateNode("py: test_functions.stop_go"),
ListLink(
ConceptNode("traffic ticket")
)
)
)
)
tv = evaluate_atom(self.atomspace, satisfaction_atom)
self.assertTrue(tv is not None and tv.mean <= 0.5)
self.assertEquals(green_count(), 2)
self.assertEquals(red_count(), 1)
def test_evaluate_atom(self):
result = evaluate_atom(
self.atomspace,
EvaluationLink(
GroundedPredicateNode("py: test_functions.bogus_tv"),
ListLink(ConceptNode("one"), ConceptNode("two"))))
self.assertEquals(result, TruthValue(0.6, 0.234))
def test_satisfy(self):
satisfaction_atom = SatisfactionLink(
VariableList(), # no variables
SequentialAndLink(
EvaluationLink(
GroundedPredicateNode("py: test_functions.stop_go"),
ListLink(
ConceptNode("green light")
)
),
EvaluationLink(
GroundedPredicateNode("py: test_functions.stop_go"),
ListLink(
ConceptNode("green light")
)
),
EvaluationLink(
GroundedPredicateNode("py: test_functions.stop_go"),
ListLink(
ConceptNode("red light")
)
),
EvaluationLink(
GroundedPredicateNode("py: test_functions.stop_go"),
ListLink(
ConceptNode("traffic ticket")
)
)
)
)
tv = evaluate_atom(self.atomspace, satisfaction_atom)
self.assertTrue(tv is not None and tv.mean <= 0.5)
self.assertEquals(green_count(), 2)
self.assertEquals(red_count(), 1)
def test_evaluate_atom(self):
result = evaluate_atom(self.atomspace,
EvaluationLink(
GroundedPredicateNode("py: test_functions.bogus_tv"),
ListLink(
ConceptNode("one"),
ConceptNode("two")
)
)
)
self.assertEquals(result, TruthValue(0.6, 0.234))
def evaluate_atom(self, atom, atomspace=None):
if atomspace is None:
atomspace = create_child_atomspace(self.atomspace)
result = evaluate_atom(atomspace, atom)
# todo: use ValueOfLink to get tensor value
return result
def generate_action(self):
""" generate and execute the action by behavior tree
Now (20150822) we generate action by such a behavior tree:
If target block found in atomspace:
If target block is attractive(sti is large enough):
move to the near place of the target block
else:
moving 2 units toward yaw = 90 degree
For testing, we set a target block(gold, which block id is 14)
And we assume the world is superflat world so we only need to move on
x-y direction.
Note that because the behavior of GSN/GPN,
we have to import all schemas(action_schemas.py)
in the main script(opencog_initializer.py).
Or it will fail to find the function name.
TODO:
Build random action function: It's for the 'else' part
in above behavior tree. This will make the bot behaves more
naturally.
Add pathfinding technique: so the bot can calculate the procedure to
get to the destination.
it will be able to move to any place he wants.
(ex. place block to jump to a higher place)
In Opencog there has been an OCPlanner implementation.
It should be possible to migrate the old code.
More higher level ways to making decision: For now it's just testing
so we only use a simple behavior tree to demo. But in general,
we should regard these behavior tree as lower level schemas.
And we should use a higher level cognition ways(e.g. OpenPsi)
to decide what behavior tree we want to execute.
"""
result = bindlink(self._atomspace,
BindLink(
VariableList(
TypedVariableLink(
VariableNode("$block"),
TypeNode("StructureNode")
),
TypedVariableLink(
VariableNode("$material"),
TypeNode("ConceptNode")
),
),
AndLink(
EvaluationLink(
PredicateNode("material"),
ListLink(
VariableNode("$block"),
VariableNode("$material")
)
),
EvaluationLink(
PredicateNode("be"),
ListLink(
VariableNode("$material"),
ConceptNode("WOOD_BLOCK")
)
),
EvaluationLink(
GroundedPredicateNode("py: action_schemas.is_attractive"),
ListLink(
VariableNode("$block")
)
),
EvaluationLink(
GroundedPredicateNode("py: action_schemas.dig_block"),
ListLink(
VariableNode("$block")
)
)
),
VariableNode("$block")
).h
)
print "action_gen: result", Atom(result, self._atomspace)
if self._atomspace.get_outgoing(result) == []:
print "action_gen: no result, random walk."
evaluate_atom(self._atomspace,
EvaluationLink(
GroundedPredicateNode("py: action_schemas.set_relative_move"),
ListLink(
RandomChoiceLink(
NumberNode("0"),
NumberNode("90"),
NumberNode("180"),
NumberNode("270"),
),
NumberNode("1"),
ConceptNode("jump")
)
)
)
print "action_gen end"
def generate_action(self):
# TODO: This documantation is outdated.
""" generate and execute the action by behavior tree
Now (20150822) we generate action by such a behavior tree:
If target block found in atomspace:
If target block is attractive(sti is large enough):
move to the near place of the target block
else:
moving 2 units toward yaw = 90 degree
For testing, we set a target block(gold, which block id is 14)
And we assume the world is superflat world so we only need to move on
x-y direction.
Note that because the behavior of GSN/GPN,
we have to import all schemas(action_schemas.py)
in the main script(opencog_initializer.py).
Or it will fail to find the function name.
TODO:
Build random action function: It's for the 'else' part
in above behavior tree. This will make the bot behaves more
naturally.
Add pathfinding technique: so the bot can calculate the procedure to
get to the destination.
it will be able to move to any place he wants.
(ex. place block to jump to a higher place)
In Opencog there has been an OCPlanner implementation.
It should be possible to migrate the old code.
More higher level ways to making decision: For now it's just testing
so we only use a simple behavior tree to demo. But in general,
we should regard these behavior tree as lower level schemas.
And we should use a higher level cognition ways(e.g. OpenPsi)
to decide what behavior tree we want to execute.
"""
# The goal_sucess_rate represents how well a given strategy is working
# toward achieving the success of the overall goal it is trying to
# achieve. This sucess rate defaults to 0 here, and during the main
# goal execution the result is something that is furthering the goal
# then it can set this to a higher value. The more successful we are
# in satisfying a certain goal, the more likely we are to continue
# doing this thing, i.e. if we are in the process of doing something
# that takes time and are making progress, don't switch to some other
# goal right in the middle of that.
goal_success_rate = 0.0
# Read the current goal from atomspace
goal = bindlink(self._atomspace,
BindLink(
VariableList(
TypedVariableLink(
VariableNode("$goal"),
TypeNode("ConceptNode")
),
),
Link(
ConceptNode("CURRENT_GOAL"),
VariableNode("$goal")
),
VariableNode("$goal")
)
)
goal_name = goal.out[0].name
print "goal_name: ", goal_name
#######################################################################
# Main Action Tree
#######################################################################
# This if - elif chain is the main action generation code for the bot.
# The chain of if statements here branches off of the currently
# selected goal. Inside each if block is code which should further
# advance that particular goal for the bot. So for example, on the
# gather resources goal, the code looks through the bot's memory for
# blocks which are wood/ore/etc and then travels to one of them and
# mines it out.
if goal_name == "Gather resources":
print "action_gen: gather resources."
# Find resources:
# This bindlink looks through all of the blocks currently in the bot's
# memory about the world and returns a list of all the ones that are
# just the base wood type (i.e. what trees are made out of, not planks,
# slabs, buttons, etc).
result = bindlink(self._atomspace,
BindLink(
VariableList(
TypedVariableLink(
VariableNode("$block"),
TypeNode("StructureNode")
),
TypedVariableLink(
VariableNode("$material"),
TypeNode("ConceptNode")
),
),
AndLink(
EvaluationLink(
PredicateNode("material"),
ListLink(
VariableNode("$block"),
VariableNode("$material")
)
),
EvaluationLink(
PredicateNode("be"),
ListLink(
VariableNode("$material"),
ConceptNode("WOOD_BLOCK")
)
),
EvaluationLink(
GroundedPredicateNode(
"py: action_schemas.is_attractive"),
ListLink(
VariableNode("$block")
)
),
EvaluationLink(
GroundedPredicateNode(
"py: action_schemas.dig_block"),
ListLink(
VariableNode("$block")
)
)
),
VariableNode("$block")
)
)
print "action_gen: result", result
# If we sucessfully mined out a block of wood we have been very
# successful in fulfilling this goal and should continue to try to
# mine more unless something else really urgent comes up. If we
# failed, then we should try to find something else to do.
if result.out != []:
goal_success_rate = 5.0
else:
goal_success_rate = -5.0
elif goal_name == "Explore":
print "action_gen: random walk."
# Random walk:
# Choose a random direction and walk a short distance in that direction and
# either execute a normal walk or a walk + jump in that direction.
evaluate_atom(self._atomspace,
EvaluationLink(
GroundedPredicateNode(
"py: action_schemas.set_relative_move"),
ListLink(
RandomChoiceLink(
NumberNode("0"),
NumberNode("45"),
NumberNode("90"),
NumberNode("135"),
NumberNode("180"),
NumberNode("225"),
NumberNode("270"),
NumberNode("315"),
),
RandomChoiceLink(
NumberNode("1"),
NumberNode("2"),
NumberNode("3"),
NumberNode("4"),
),
ConceptNode("jump")
)
)
)
goal_success_rate = 1.0
elif goal_name == "Look around":
print "action_gen: look around."
# Random walk:
# Choose a random direction and walk 1 block in that direction and
# either execute a normal walk or a walk + jump in that direction.
evaluate_atom(self._atomspace,
EvaluationLink(
GroundedPredicateNode(
"py: action_schemas.set_relative_look"),
ListLink(
RandomChoiceLink(
NumberNode("0"),
NumberNode("90"),
NumberNode("180"),
NumberNode("270"),
),
NumberNode("0")
)
)
)
goal_success_rate = 0.5
else:
# If we got here then there was no handler coded yet for the
# currently selected goal. Return a very negative
# goal_success_rate so that we switch to another goal since
# standing around doing nothing is not productive.
goal_success_rate = -20.0
# Decide whether or not we should change the current goal, or if we
# should keep doing the same thing in the next time step.
print "It has been %s time steps since the goal was changed." % self.steps_since_goal_change
# Make it more and more likely to change the current goal depending on
# how long we have been on the current goal.
if random.normalvariate(0.0, 1.0) >= 1.5 - 0.1 * \
self.steps_since_goal_change + 0.1 * goal_success_rate:
print "\n\n\n\t\t\tChanging current goal\n\n\n"
self.steps_since_goal_change = 1
# Get the full list of all the goals in the atomspace
goal_atoms = bindlink(self._atomspace,
BindLink(
TypedVariableLink(
VariableNode("$goal"),
TypeNode("ConceptNode")
),
EvaluationLink(
PredicateNode("be"),
ListLink(
ConceptNode("GOAL"),
VariableNode("$goal")
),
),
VariableNode("$goal")
))
# print "All goals: ", goal_atoms_list
goal_atoms_list = goal_atoms.out
# TODO: This should be done in atomese.
random_goal = goal_atoms_list[
random.randint(0, len(goal_atoms_list) - 1)]
print "Random goal: ", random_goal
# delete the existing CURRENT_GOAL link and then
# create a new one pointing to the newly chosen goal.
self._atomspace.remove(
Link(
ConceptNode("CURRENT_GOAL"),
ConceptNode(goal_name)))
self._atomspace.add_link(
types.Link, (ConceptNode("CURRENT_GOAL"), random_goal))
else:
self.steps_since_goal_change += 1
print "action_gen end"
initLogger()
initAtomspace()
featureVectorSize = 2048
torchDevice = torch.device("cuda" if torch.cuda.is_available() else "cpu")
wordModels = WordModelVocabulary(['hare', 'grey'])
boundingBox = ConceptNode("someBoundingBox")
boundingBox.set_value(PredicateNode("neuralNetworkFeatures"),
FloatValue(loadFeatures()))
atomeseModel = AndLink(ConceptNode('hare.nn'), ConceptNode('grey.nn'))
log.info("atomeseModel: %s", atomeseModel)
expectedValue = createExpectedResult(atomeseModel, boundingBox, 1.0)
log.info('expectedValue: %s', expectedValue)
predictedValue = execute_atom(
atomspace,
ExecutionOutputLink(GroundedSchemaNode('py:runNeuralNetwork'),
ListLink(atomeseModel, boundingBox)))
log.info('predictedValue: %s', predictedValue)
# TODO: there is no Atomese construction to call Python procedure
# but don't expect any result, i.e. call ```void foo()```
evaluate_atom(
atomspace,
EvaluationLink(GroundedPredicateNode('py:trainNeuralNetwork'),
ListLink(atomeseModel, predictedValue, expectedValue)))
log.info('train step finished')
def generate_action(self):
# TODO: This documantation is outdated.
""" generate and execute the action by behavior tree
Now (20150822) we generate action by such a behavior tree:
If target block found in atomspace:
If target block is attractive(sti is large enough):
move to the near place of the target block
else:
moving 2 units toward yaw = 90 degree
For testing, we set a target block(gold, which block id is 14)
And we assume the world is superflat world so we only need to move on
x-y direction.
Note that because the behavior of GSN/GPN,
we have to import all schemas(action_schemas.py)
in the main script(opencog_initializer.py).
Or it will fail to find the function name.
TODO:
Build random action function: It's for the 'else' part
in above behavior tree. This will make the bot behaves more
naturally.
Add pathfinding technique: so the bot can calculate the procedure to
get to the destination.
it will be able to move to any place he wants.
(ex. place block to jump to a higher place)
In Opencog there has been an OCPlanner implementation.
It should be possible to migrate the old code.
More higher level ways to making decision: For now it's just testing
so we only use a simple behavior tree to demo. But in general,
we should regard these behavior tree as lower level schemas.
And we should use a higher level cognition ways(e.g. OpenPsi)
to decide what behavior tree we want to execute.
"""
# The goal_sucess_rate represents how well a given strategy is working
# toward achieving the success of the overall goal it is trying to
# achieve. This sucess rate defaults to 0 here, and during the main
# goal execution the result is something that is furthering the goal
# then it can set this to a higher value. The more successful we are
# in satisfying a certain goal, the more likely we are to continue
# doing this thing, i.e. if we are in the process of doing something
# that takes time and are making progress, don't switch to some other
# goal right in the middle of that.
goal_success_rate = 0.0
# Read the current goal from atomspace
goal = bindlink(
self._atomspace,
BindLink(
VariableList(
TypedVariableLink(VariableNode("$goal"),
TypeNode("ConceptNode")), ),
Link(ConceptNode("CURRENT_GOAL"), VariableNode("$goal")),
VariableNode("$goal")))
goal_name = goal.out[0].name
print "goal_name: ", goal_name
#######################################################################
# Main Action Tree
#######################################################################
# This if - elif chain is the main action generation code for the bot.
# The chain of if statements here branches off of the currently
# selected goal. Inside each if block is code which should further
# advance that particular goal for the bot. So for example, on the
# gather resources goal, the code looks through the bot's memory for
# blocks which are wood/ore/etc and then travels to one of them and
# mines it out.
if goal_name == "Gather resources":
print "action_gen: gather resources."
# Find resources:
# This bindlink looks through all of the blocks currently in the bot's
# memory about the world and returns a list of all the ones that are
# just the base wood type (i.e. what trees are made out of, not planks,
# slabs, buttons, etc).
result = bindlink(
self._atomspace,
BindLink(
VariableList(
TypedVariableLink(VariableNode("$block"),
TypeNode("StructureNode")),
TypedVariableLink(VariableNode("$material"),
TypeNode("ConceptNode")),
),
AndLink(
EvaluationLink(
PredicateNode("material"),
ListLink(VariableNode("$block"),
VariableNode("$material"))),
EvaluationLink(
PredicateNode("be"),
ListLink(VariableNode("$material"),
ConceptNode("WOOD_BLOCK"))),
EvaluationLink(
GroundedPredicateNode(
"py: action_schemas.is_attractive"),
ListLink(VariableNode("$block"))),
EvaluationLink(
GroundedPredicateNode(
"py: action_schemas.dig_block"),
ListLink(VariableNode("$block")))),
VariableNode("$block")))
print "action_gen: result", result
# If we sucessfully mined out a block of wood we have been very
# successful in fulfilling this goal and should continue to try to
# mine more unless something else really urgent comes up. If we
# failed, then we should try to find something else to do.
if result.out != []:
goal_success_rate = 5.0
else:
goal_success_rate = -5.0
elif goal_name == "Explore":
print "action_gen: random walk."
# Random walk:
# Choose a random direction and walk a short distance in that direction and
# either execute a normal walk or a walk + jump in that direction.
evaluate_atom(
self._atomspace,
EvaluationLink(
GroundedPredicateNode(
"py: action_schemas.set_relative_move"),
ListLink(
RandomChoiceLink(
NumberNode("0"),
NumberNode("45"),
NumberNode("90"),
NumberNode("135"),
NumberNode("180"),
NumberNode("225"),
NumberNode("270"),
NumberNode("315"),
),
RandomChoiceLink(
NumberNode("1"),
NumberNode("2"),
NumberNode("3"),
NumberNode("4"),
), ConceptNode("jump"))))
goal_success_rate = 1.0
elif goal_name == "Look around":
print "action_gen: look around."
# Random walk:
# Choose a random direction and walk 1 block in that direction and
# either execute a normal walk or a walk + jump in that direction.
evaluate_atom(
self._atomspace,
EvaluationLink(
GroundedPredicateNode(
"py: action_schemas.set_relative_look"),
ListLink(
RandomChoiceLink(
NumberNode("0"),
NumberNode("90"),
NumberNode("180"),
NumberNode("270"),
), NumberNode("0"))))
goal_success_rate = 0.5
else:
# If we got here then there was no handler coded yet for the
# currently selected goal. Return a very negative
# goal_success_rate so that we switch to another goal since
# standing around doing nothing is not productive.
goal_success_rate = -20.0
# Decide whether or not we should change the current goal, or if we
# should keep doing the same thing in the next time step.
print "It has been %s time steps since the goal was changed." % self.steps_since_goal_change
# Make it more and more likely to change the current goal depending on
# how long we have been on the current goal.
if random.normalvariate(0.0, 1.0) >= 1.5 - 0.1 * \
self.steps_since_goal_change + 0.1 * goal_success_rate:
print "\n\n\n\t\t\tChanging current goal\n\n\n"
self.steps_since_goal_change = 1
# Get the full list of all the goals in the atomspace
goal_atoms = bindlink(
self._atomspace,
BindLink(
TypedVariableLink(VariableNode("$goal"),
TypeNode("ConceptNode")),
EvaluationLink(
PredicateNode("be"),
ListLink(ConceptNode("GOAL"), VariableNode("$goal")),
), VariableNode("$goal")))
# print "All goals: ", goal_atoms_list
goal_atoms_list = goal_atoms.out
# TODO: This should be done in atomese.
random_goal = goal_atoms_list[random.randint(
0,
len(goal_atoms_list) - 1)]
print "Random goal: ", random_goal
# delete the existing CURRENT_GOAL link and then
# create a new one pointing to the newly chosen goal.
self._atomspace.remove(
Link(ConceptNode("CURRENT_GOAL"), ConceptNode(goal_name)))
self._atomspace.add_link(
types.Link, (ConceptNode("CURRENT_GOAL"), random_goal))
else:
self.steps_since_goal_change += 1
print "action_gen end"
def generate_action(self):
""" generate and execute the action by behavior tree
Now (20150822) we generate action by such a behavior tree:
If target block found in atomspace:
If target block is attractive(sti is large enough):
move to the near place of the target block
else:
moving 2 units toward yaw = 90 degree
For testing, we set a target block(gold, which block id is 14)
And we assume the world is superflat world so we only need to move on
x-y direction.
Note that because the behavior of GSN/GPN,
we have to import all schemas(action_schemas.py)
in the main script(opencog_initializer.py).
Or it will fail to find the function name.
TODO:
Build random action function: It's for the 'else' part
in above behavior tree. This will make the bot behaves more
naturally.
Add pathfinding technique: so the bot can calculate the procedure to
get to the destination.
it will be able to move to any place he wants.
(ex. place block to jump to a higher place)
In Opencog there has been an OCPlanner implementation.
It should be possible to migrate the old code.
More higher level ways to making decision: For now it's just testing
so we only use a simple behavior tree to demo. But in general,
we should regard these behavior tree as lower level schemas.
And we should use a higher level cognition ways(e.g. OpenPsi)
to decide what behavior tree we want to execute.
"""
result = bindlink(self._atomspace,
BindLink(
VariableNode("$block"),
AndLink(
EvaluationLink(
PredicateNode("material"),
ListLink(
VariableNode("$block"),
ConceptNode("14")
)
),
EvaluationLink(
GroundedPredicateNode("py: action_schemas.is_attractive"),
ListLink(
VariableNode("$block")
)
),
EvaluationLink(
GroundedPredicateNode("py: action_schemas.move_toward_block"),
ListLink(
VariableNode("$block")
)
)
),
VariableNode("$block")
).h
)
print "action_gen: result", Atom(result, self._atomspace)
if self._atomspace.get_outgoing(result) == []:
print "action_gen: no result, random walk."
evaluate_atom(self._atomspace,
EvaluationLink(
GroundedPredicateNode("py: action_schemas.set_relative_move"),
ListLink(
NumberNode("90"),
NumberNode("2"),
ConceptNode("jump")
)
)
)
print "action_gen end"