def generate_chosen_concepts(lang):
""" """
# card[Exists(at,Not({roomb}))] 4 C1
# card[Exists(carry,<universe>)] 2 C2
# bool[Exists(at-robby,{roomb})] 3 RX
# card[Exists(gripper,Exists(at-robby,{roomb}))] 5 (intermediate)
# card[Exists(carry,Exists(gripper,Exists(at-robby,{roomb})))] 7
obj_t = lang.Object
block_t = lang.get('block')
handempty = NullaryAtom(lang.get("handempty"))
on = PrimitiveRole(lang.get("on"))
on_g = GoalRole(lang.get("on"))
ontable = PrimitiveConcept(lang.get("ontable"))
clear = PrimitiveConcept(lang.get("clear"))
block = PrimitiveConcept(lang.get("block"))
on_g_on = EqualConcept(on_g, on, 'block')
M_t = AndConcept(on_g_on, ontable, 'block')
W = ForallConcept(on_g, ForallConcept(StarRole(on_g), on_g_on))
M_t_inv = AndConcept(NotConcept(W, obj_t), NotConcept(ontable, obj_t), 'block')
concepts = [M_t, W, M_t_inv]
return [], concepts, [] # atoms, concepts, roles
def generate_chosen_concepts_without_nominal(lang):
""" """
# card[Exists(at,Not({roomb}))] 4 C1
# card[Exists(carry,<universe>)] 2 C2
# bool[Exists(at-robby,{roomb})] 3 RX
# card[Exists(gripper,Exists(at-robby,{roomb}))] 5 (intermediate)
# card[Exists(carry,Exists(gripper,Exists(at-robby,{roomb})))] 7
obj_t = lang.Object
universal = UniversalConcept("object")
at = PrimitiveRole(lang.get("at"))
at_g = GoalRole(lang.get("at"))
carry = PrimitiveRole(lang.get("carry"))
at_robby = PrimitiveRole(lang.get("at-robby"))
gripper = PrimitiveRole(lang.get("gripper"))
at_g_at = EqualConcept(at_g, at, 'object')
nominal_subst = ExistsConcept(InverseRole(at_g), universal)
g1 = ExistsConcept(at, NotConcept(nominal_subst, obj_t))
g2 = ExistsConcept(carry, UniversalConcept("object"))
g3 = ExistsConcept(
carry, ExistsConcept(gripper, ExistsConcept(at_robby, nominal_subst)))
g4 = ExistsConcept(
at_robby,
AndConcept(NotConcept(nominal_subst, obj_t),
ExistsConcept(InverseRole(at), universal), 'object'))
concepts = [nominal_subst, g1, g2, g3, g4]
return [], concepts, [] # atoms, concepts, roles
def generate_chosen_concepts(lang):
""" """
obj_t = lang.Object
passenger = PrimitiveConcept(lang.get("passenger"))
lift_at = PrimitiveConcept(lang.get("lift-at"))
boarded = PrimitiveConcept(lang.get("boarded"))
served = PrimitiveConcept(lang.get("served"))
origin = PrimitiveRole(lang.get("origin"))
destin = PrimitiveRole(lang.get("destin"))
# M1 = AndConcept(NotConcept(boarded, obj_t), NotConcept(served, obj_t),
# "object")
# M2 = AndConcept(boarded, NotConcept(served, obj_t), "object") # K(m2) = 4
M3 = ExistsConcept(origin, lift_at)
M4 = ExistsConcept(destin, lift_at) # K(M4) = 3
# F1 = AndConcept(M1, M3, "object")
# F2 = AndConcept(M1, NotConcept(M3, obj_t), "object")
# F3 = AndConcept(M2, M4, "object")
# F4 = AndConcept(M2, NotConcept(M4, obj_t), "object")
not_boarded_nor_served = AndConcept(NotConcept(boarded, obj_t),
NotConcept(served, obj_t), "object")
F1 = AndConcept(passenger, served, "object")
F2 = AndConcept(passenger, AndConcept(boarded, M4, "object"), "object")
F3 = AndConcept(
passenger,
AndConcept(boarded, ForallConcept(destin, NotConcept(lift_at, obj_t)),
"object"), "object")
F4 = AndConcept(passenger, AndConcept(not_boarded_nor_served, M3,
"object"), "object")
F5 = AndConcept(
passenger,
AndConcept(not_boarded_nor_served,
ForallConcept(origin, NotConcept(lift_at, obj_t)),
"object"), "object")
return [], [F1, F2, F3, F4, F5], [] # atoms, concepts, roles
def build_expected_features(lang):
obj_t = lang.Object
visited = PrimitiveConcept(lang.get("visited"))
unvisited = NotConcept(visited, obj_t)
return [
ConceptCardinalityFeature(unvisited),
ConceptCardinalityFeature(visited),
MinDistanceFeature(PrimitiveConcept(lang.get("at-robot")),
PrimitiveRole(lang.get("connected")), unvisited),
]
def generate_chosen_concepts(lang):
""" """
# card[Exists(at,Not({roomb}))] 4 C1
# card[Exists(carry,<universe>)] 2 C2
# bool[Exists(at-robby,{roomb})] 3 RX
# card[Exists(gripper,Exists(at-robby,{roomb}))] 5 (intermediate)
# card[Exists(carry,Exists(gripper,Exists(at-robby,{roomb})))] 7
obj_t = lang.Object
at = PrimitiveRole(lang.get("at"))
carry = PrimitiveRole(lang.get("carry"))
at_robby = PrimitiveRole(lang.get("at-robby"))
gripper = PrimitiveRole(lang.get("gripper"))
x_param = NominalConcept("roomb", obj_t)
c1 = ExistsConcept(at, NotConcept(x_param, obj_t))
c2 = ExistsConcept(carry, UniversalConcept("object"))
rx = ExistsConcept(at_robby, x_param)
c3 = ExistsConcept(gripper, rx)
c4 = ExistsConcept(carry, c3)
concepts = [c1, c2, c3, c4]
return [], concepts, [] # atoms, concepts, roles
def build_concept(language, node):
if isinstance(node, str): # Must be a primitive symbol or universe / empty
if node == "<universe>":
return UniversalConcept('object')
if node == "<empty>":
return EmptyConcept('object')
is_goal = False
if node[-2:] == "_g":
# We have a goal concept / role
# (yes, this will fail miserably if some primitive in the original domain is named ending with _g)
is_goal = True
node = node[:-2]
obj = language.get(node)
assert isinstance(obj, (Predicate, Function, Sort))
arity = 1 if isinstance(obj, Sort) else obj.uniform_arity()
assert arity in (1, 2)
if is_goal:
return GoalConcept(obj) if arity == 1 else GoalRole(obj)
else:
return PrimitiveConcept(obj) if arity == 1 else PrimitiveRole(obj)
elif node.name == "Nominal":
assert len(node.children) == 1
return NominalConcept(node.children[0], language.Object)
elif node.name == "Not":
assert len(node.children) == 1
return NotConcept(build_concept(language, node.children[0]),
language.Object)
elif node.name == "Inverse":
assert len(node.children) == 1
return InverseRole(build_concept(language, node.children[0]))
elif node.name == "And":
assert len(node.children) == 2
return AndConcept(build_concept(language, node.children[0]),
build_concept(language, node.children[1]), 'object')
elif node.name == "Exists":
assert len(node.children) == 2
role = build_concept(language, node.children[0])
concept = build_concept(language, node.children[1])
return ExistsConcept(role, concept)
elif node.name == "Forall":
assert len(node.children) == 2
role = build_concept(language, node.children[0])
concept = build_concept(language, node.children[1])
return ForallConcept(role, concept)
elif node.name == "Restrict":
assert len(node.children) == 2
role = build_concept(language, node.children[0])
concept = build_concept(language, node.children[1])
return RestrictRole(role, concept)
elif node.name == "Equal":
assert len(node.children) == 2
r1 = build_concept(language, node.children[0])
r2 = build_concept(language, node.children[1])
return EqualConcept(r1, r2, 'object')
elif node.name == "Star":
assert len(node.children) == 1
r1 = build_concept(language, node.children[0])
return StarRole(r1)
elif node.name == "RoleDifference":
assert False
assert len(node.children) == 2
r1 = build_concept(language, node.children[0])
r2 = build_concept(language, node.children[1])
return RoleDifference(r1, r2)
else:
raise RuntimeError(
"Don't know how to deserialize concept / feature: {}".format(node))