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Breaking changes to "search" planners. Folded action cost calculation…
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… into the same interface as the one that contains EstimateCost - IHeuristic. Renamed it to IStrategy since its no longer just about the heuristic. This has enabled StateSpaceSearch and GoalSpaceSearch to be a little less ugly.
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@sdcondon
sdcondon committed Jan 7, 2023
1 parent a49d55c commit 009f647
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Showing 25 changed files with 222 additions and 254 deletions.
30 changes: 9 additions & 21 deletions src/SCClassicalPlanning.Alternatives/Planning/Search/GoalSpaceSearch_LiftedWithKB.cs
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Expand Up @@ -25,28 +25,16 @@ namespace SCClassicalPlanning.Planning.Search
/// </summary>
public class GoalSpaceSearch_LiftedWithKB : IPlanner
{
private readonly IHeuristic heuristic;
private readonly IStrategy strategy;
private readonly InvariantInspector? invariantInspector;
private readonly Func<Action, float> getActionCost;

/// <summary>
/// Initializes a new instance of the <see cref="GoalSpaceSearch_LiftedWithKB"/> class that attempts to minimise the number of actions in the resulting plan.
/// Initializes a new instance of the <see cref="GoalSpaceSearch_LiftedWithKB"/> class.
/// </summary>
/// <param name="heuristic">The heuristic to use - the returned cost will be interpreted as the estimated number of actions that need to be performed.</param>
public GoalSpaceSearch_LiftedWithKB(IHeuristic heuristic, IKnowledgeBase? invariantsKB = null)
: this(heuristic, a => 1f, invariantsKB)
/// <param name="strategy">The strategy to use.</param>
public GoalSpaceSearch_LiftedWithKB(IStrategy strategy, IKnowledgeBase? invariantsKB = null)
{
}

/// <summary>
/// Initializes a new instance of the <see cref="GoalSpaceSearch_LiftedWithKB"/> class that attempts to minimise the total "cost" of actions in the resulting plan.
/// </summary>
/// <param name="heuristic">The heuristic to use - with the returned cost will be interpreted as the estimated total cost of the actions that need to be performed.</param>
/// <param name="getActionCost">A delegate to retrieve the cost of an action.</param>
public GoalSpaceSearch_LiftedWithKB(IHeuristic heuristic, Func<Action, float> getActionCost, IKnowledgeBase? invariantsKB = null)
{
this.heuristic = heuristic;
this.getActionCost = getActionCost;
this.strategy = strategy;
this.invariantInspector = invariantsKB != null ? new InvariantInspector(invariantsKB) : null;
}

Expand All @@ -55,7 +43,7 @@ public GoalSpaceSearch_LiftedWithKB(IHeuristic heuristic, Func<Action, float> ge
/// </summary>
/// <param name="problem">The problem to create a plan for.</param>
/// <returns></returns>
public PlanningTask CreatePlanningTask(Problem problem) => new(problem, heuristic, getActionCost, invariantInspector);
public PlanningTask CreatePlanningTask(Problem problem) => new(problem, strategy, invariantInspector);

/// <inheritdoc />
IPlanningTask IPlanner.CreatePlanningTask(Problem problem) => CreatePlanningTask(problem);
Expand All @@ -70,16 +58,16 @@ public class PlanningTask : SteppablePlanningTask<(Goal, Action, Goal)>
private bool isComplete;
private Plan? result;

internal PlanningTask(Problem problem, IHeuristic heuristic, Func<Action, float> getActionCost, InvariantInspector? invariantInspector)
internal PlanningTask(Problem problem, IStrategy strategy, InvariantInspector? invariantInspector)
{
Domain = problem.Domain;
InvariantInspector = invariantInspector;

search = new AStarSearch<GoalSpaceNode, GoalSpaceEdge>(
source: new GoalSpaceNode(this, problem.Goal),
isTarget: n => problem.InitialState.GetSatisfyingSubstitutions(n.Goal).Any(),
getEdgeCost: e => getActionCost(e.Action),
getEstimatedCostToTarget: n => heuristic.EstimateCost(problem.InitialState, n.Goal));
getEdgeCost: e => strategy.GetCost(e.Action),
getEstimatedCostToTarget: n => strategy.EstimateCost(problem.InitialState, n.Goal));

CheckForSearchCompletion();
}
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30 changes: 9 additions & 21 deletions src/SCClassicalPlanning.Alternatives/Planning/Search/GoalSpaceSearch_LiftedWithoutKB.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -26,35 +26,23 @@ namespace SCClassicalPlanning.Planning.Search
/// </summary>
public class GoalSpaceSearch_LiftedWithoutKB : IPlanner
{
private readonly IHeuristic heuristic;
private readonly Func<Action, float> getActionCost;
private readonly IStrategy strategy;

/// <summary>
/// Initializes a new instance of the <see cref="GoalSpaceSearch_LiftedWithoutKB"/> class that attempts to minimise the number of actions in the resulting plan.
/// Initializes a new instance of the <see cref="GoalSpaceSearch_LiftedWithoutKB"/> class.
/// </summary>
/// <param name="heuristic">The heuristic to use - the returned cost will be interpreted as the estimated number of actions that need to be performed.</param>
public GoalSpaceSearch_LiftedWithoutKB(IHeuristic heuristic)
: this(heuristic, a => 1f)
/// <param name="strategy">The strategy to use.</param>
public GoalSpaceSearch_LiftedWithoutKB(IStrategy strategy)
{
}

/// <summary>
/// Initializes a new instance of the <see cref="GoalSpaceSearch_LiftedWithoutKB"/> class that attempts to minimise the total "cost" of actions in the resulting plan.
/// </summary>
/// <param name="heuristic">The heuristic to use - with the returned cost will be interpreted as the estimated total cost of the actions that need to be performed.</param>
/// <param name="getActionCost">A delegate to retrieve the cost of an action.</param>
public GoalSpaceSearch_LiftedWithoutKB(IHeuristic heuristic, Func<Action, float> getActionCost)
{
this.heuristic = heuristic;
this.getActionCost = getActionCost;
this.strategy = strategy;
}

/// <summary>
/// Creates a (concretely-typed) planning task to work on solving a given problem.
/// </summary>
/// <param name="problem">The problem to create a plan for.</param>
/// <returns></returns>
public PlanningTask CreatePlanningTask(Problem problem) => new(problem, heuristic, getActionCost);
public PlanningTask CreatePlanningTask(Problem problem) => new(problem, strategy);

/// <inheritdoc />
IPlanningTask IPlanner.CreatePlanningTask(Problem problem) => CreatePlanningTask(problem);
Expand All @@ -69,13 +57,13 @@ public class PlanningTask : SteppablePlanningTask<(Goal, Action, Goal)>
private bool isComplete;
private Plan? result;

internal PlanningTask(Problem problem, IHeuristic heuristic, Func<Action, float> getActionCost)
internal PlanningTask(Problem problem, IStrategy strategy)
{
search = new AStarSearch<GoalSpaceNode, GoalSpaceEdge>(
source: new GoalSpaceNode(problem.Domain, problem.Goal),
isTarget: n => problem.InitialState.GetSatisfyingSubstitutions(n.Goal).Any(),
getEdgeCost: e => getActionCost(e.Action),
getEstimatedCostToTarget: n => heuristic.EstimateCost(problem.InitialState, n.Goal));
getEdgeCost: e => strategy.GetCost(e.Action),
getEstimatedCostToTarget: n => strategy.EstimateCost(problem.InitialState, n.Goal));

CheckForSearchCompletion();
}
Expand Down
30 changes: 9 additions & 21 deletions src/SCClassicalPlanning.Alternatives/Planning/Search/GoalSpaceSearch_PropositionalWithKB.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -27,28 +27,16 @@ namespace SCClassicalPlanning.Planning.Search
/// </summary>
public class GoalSpaceSearch_PropositionalWithKB : IPlanner
{
private readonly IHeuristic heuristic;
private readonly IStrategy strategy;
private readonly InvariantInspector? invariantInspector;
private readonly Func<Action, float> getActionCost;

/// <summary>
/// Initializes a new instance of the <see cref="GoalSpaceSearch_PropositionalWithKB"/> class that attempts to minimise the number of actions in the resulting plan.
/// Initializes a new instance of the <see cref="GoalSpaceSearch_PropositionalWithKB"/> class.
/// </summary>
/// <param name="heuristic">The heuristic to use - the returned cost will be interpreted as the estimated number of actions that need to be performed.</param>
public GoalSpaceSearch_PropositionalWithKB(IHeuristic heuristic, IKnowledgeBase? invariantsKB = null)
: this(heuristic, a => 1f, invariantsKB)
/// <param name="strategy">The strategy to use.</param>
public GoalSpaceSearch_PropositionalWithKB(IStrategy strategy, IKnowledgeBase? invariantsKB = null)
{
}

/// <summary>
/// Initializes a new instance of the <see cref="GoalSpaceSearch_PropositionalWithKB"/> class that attempts to minimise the total "cost" of actions in the resulting plan.
/// </summary>
/// <param name="heuristic">The heuristic to use - with the returned cost will be interpreted as the estimated total cost of the actions that need to be performed.</param>
/// <param name="getActionCost">A delegate to retrieve the cost of an action.</param>
public GoalSpaceSearch_PropositionalWithKB(IHeuristic heuristic, Func<Action, float> getActionCost, IKnowledgeBase? invariantsKB = null)
{
this.heuristic = heuristic;
this.getActionCost = getActionCost;
this.strategy = strategy;
this.invariantInspector = invariantsKB != null ? new InvariantInspector(invariantsKB) : null;
}

Expand All @@ -57,7 +45,7 @@ public GoalSpaceSearch_PropositionalWithKB(IHeuristic heuristic, Func<Action, fl
/// </summary>
/// <param name="problem">The problem to create a plan for.</param>
/// <returns></returns>
public PlanningTask CreatePlanningTask(Problem problem) => new(problem, heuristic, getActionCost, invariantInspector);
public PlanningTask CreatePlanningTask(Problem problem) => new(problem, strategy, invariantInspector);

/// <inheritdoc />
IPlanningTask IPlanner.CreatePlanningTask(Problem problem) => CreatePlanningTask(problem);
Expand All @@ -72,16 +60,16 @@ public class PlanningTask : SteppablePlanningTask<(Goal, Action, Goal)>
private bool isComplete;
private Plan? result;

internal PlanningTask(Problem problem, IHeuristic heuristic, Func<Action, float> getActionCost, InvariantInspector? invariantInspector)
internal PlanningTask(Problem problem, IStrategy strategy, InvariantInspector? invariantInspector)
{
Problem = problem;
InvariantInspector = invariantInspector;

search = new AStarSearch<GoalSpaceNode, GoalSpaceEdge>(
source: new GoalSpaceNode(this, problem.Goal),
isTarget: n => n.Goal.IsSatisfiedBy(problem.InitialState),
getEdgeCost: e => getActionCost(e.Action),
getEstimatedCostToTarget: n => heuristic.EstimateCost(problem.InitialState, n.Goal));
getEdgeCost: e => strategy.GetCost(e.Action),
getEstimatedCostToTarget: n => strategy.EstimateCost(problem.InitialState, n.Goal));

CheckForSearchCompletion();
}
Expand Down
30 changes: 9 additions & 21 deletions ...CClassicalPlanning.Alternatives/Planning/Search/GoalSpaceSearch_PropositionalWithoutKB.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -29,35 +29,23 @@ namespace SCClassicalPlanning.Planning.Search
/// </summary>
public class GoalSpaceSearch_PropositionalWithoutKB : IPlanner
{
private readonly IHeuristic heuristic;
private readonly Func<Action, float> getActionCost;

/// <summary>
/// Initializes a new instance of the <see cref="ForwardStateSpaceSearch"/> class that attempts to minimise the number of actions in the resulting plan.
/// </summary>
/// <param name="heuristic">The heuristic to use - the returned cost will be interpreted as the estimated number of actions that need to be performed.</param>
public GoalSpaceSearch_PropositionalWithoutKB(IHeuristic heuristic)
: this(heuristic, a => 1f)
{
}
private readonly IStrategy strategy;

/// <summary>
/// Initializes a new instance of the <see cref="ForwardStateSpaceSearch"/> class that attempts to minimise the total "cost" of actions in the resulting plan.
/// Initializes a new instance of the <see cref="GoalSpaceSearch_PropositionalWithoutKB"/> class.
/// </summary>
/// <param name="heuristic">The heuristic to use - with the returned cost will be interpreted as the estimated total cost of the actions that need to be performed.</param>
/// <param name="getActionCost">A delegate to retrieve the cost of an action.</param>
public GoalSpaceSearch_PropositionalWithoutKB(IHeuristic heuristic, Func<Action, float> getActionCost)
/// <param name="strategy">The strategy to use.</param>
public GoalSpaceSearch_PropositionalWithoutKB(IStrategy strategy)
{
this.heuristic = heuristic;
this.getActionCost = getActionCost;
this.strategy = strategy;
}

/// <summary>
/// Creates a (concretely-typed) planning task to work on solving a given problem.
/// </summary>
/// <param name="problem">The problem to create a plan for.</param>
/// <returns></returns>
public PlanningTask CreatePlanningTask(Problem problem) => new(problem, heuristic, getActionCost);
public PlanningTask CreatePlanningTask(Problem problem) => new(problem, strategy);

/// <inheritdoc />
IPlanningTask IPlanner.CreatePlanningTask(Problem problem) => CreatePlanningTask(problem);
Expand All @@ -72,13 +60,13 @@ public class PlanningTask : SteppablePlanningTask<(Goal, Action, Goal)>
private bool isComplete;
private Plan? result;

internal PlanningTask(Problem problem, IHeuristic heuristic, Func<Action, float> getActionCost)
internal PlanningTask(Problem problem, IStrategy strategy)
{
search = new AStarSearch<GoalSpaceNode, GoalSpaceEdge>(
source: new GoalSpaceNode(problem, problem.Goal),
isTarget: n => n.Goal.IsSatisfiedBy(problem.InitialState),
getEdgeCost: e => getActionCost(e.Action),
getEstimatedCostToTarget: n => heuristic.EstimateCost(problem.InitialState, n.Goal));
getEdgeCost: e => strategy.GetCost(e.Action),
getEstimatedCostToTarget: n => strategy.EstimateCost(problem.InitialState, n.Goal));

CheckForSearchCompletion();
}
Expand Down
20 changes: 10 additions & 10 deletions src/SCClassicalPlanning.Benchmarks/Planning/PlannerBenchmarks.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,20 +2,20 @@
using SCClassicalPlanning.ExampleDomains.FromAIaMA;
using SCClassicalPlanning.Planning;
using SCClassicalPlanning.Planning.Search;
using SCClassicalPlanning.Planning.Search.Heuristics;
using SCFirstOrderLogic;
using SCFirstOrderLogic.Inference;
using static SCFirstOrderLogic.SentenceCreation.OperableSentenceFactory;
using static SCClassicalPlanning.ExampleDomains.FromAIaMA.BlocksWorld;
using SCFirstOrderLogic.Inference.Resolution;
using SCClassicalPlanning.Planning.Search.Strategies;

namespace SCClassicalPlanning.Benchmarks.Planning
{
[MemoryDiagnoser]
[InProcess]
public class PlannerBenchmarks
{
public record TestCase(string Label, Problem Problem, IHeuristic Heuristic, IKnowledgeBase InvariantsKB)
public record TestCase(string Label, Problem Problem, IStrategy Strategy, IKnowledgeBase InvariantsKB)
{
public override string ToString() => Label;
}
Expand All @@ -25,13 +25,13 @@ public record TestCase(string Label, Problem Problem, IHeuristic Heuristic, IKno
new(
Label: "Air Cargo",
Problem: AirCargo.ExampleProblem,
Heuristic: new IgnorePreconditionsGreedySetCover(AirCargo.Domain),
Strategy: new IgnorePreconditionsGreedySetCover(AirCargo.Domain),
InvariantsKB: MakeInvariantsKB(Array.Empty<Sentence>())),

new(
Label: "Blocks - Small",
Problem: BlocksWorld.ExampleProblem,
Heuristic: new IgnorePreconditionsGreedySetCover(BlocksWorld.Domain),
Strategy: new IgnorePreconditionsGreedySetCover(BlocksWorld.Domain),
InvariantsKB: MakeInvariantsKB(new Sentence[]
{
// TODO: slicker support for unique names assumption worth looking into at some point..
Expand All @@ -53,13 +53,13 @@ public record TestCase(string Label, Problem Problem, IHeuristic Heuristic, IKno
new(
Label: "Spare Tire",
Problem: SpareTire.ExampleProblem,
Heuristic: new IgnorePreconditionsGreedySetCover(SpareTire.Domain),
Strategy: new IgnorePreconditionsGreedySetCover(SpareTire.Domain),
InvariantsKB: MakeInvariantsKB(Array.Empty<Sentence>())),

////new(
//// Label: "Blocks - Large",
//// Problem: BlocksWorld.LargeExampleProblem,
//// Heuristic: new IgnorePreconditionsGreedySetCover(BlocksWorld.Domain),
//// Strategy: new IgnorePreconditionsGreedySetCover(BlocksWorld.Domain),
//// InvariantsKB: MakeInvariantsKB(new Sentence[]
//// {
//// Block(new Constant("blockA")),
Expand Down Expand Up @@ -102,25 +102,25 @@ public record TestCase(string Label, Problem Problem, IHeuristic Heuristic, IKno
[Benchmark]
public Plan StateSpaceSearch()
{
return new StateSpaceSearch(CurrentTestCase!.Heuristic).CreatePlan(CurrentTestCase.Problem);
return new StateSpaceSearch(CurrentTestCase!.Strategy).CreatePlan(CurrentTestCase.Problem);
}

[Benchmark]
public Plan GoalSpaceSearch()
{
return new GoalSpaceSearch(CurrentTestCase!.Heuristic).CreatePlan(CurrentTestCase.Problem);
return new GoalSpaceSearch(CurrentTestCase!.Strategy).CreatePlan(CurrentTestCase.Problem);
}

[Benchmark]
public Plan GoalSpaceSearch_PropositionalWithoutKB()
{
return new GoalSpaceSearch_PropositionalWithoutKB(CurrentTestCase!.Heuristic).CreatePlan(CurrentTestCase.Problem);
return new GoalSpaceSearch_PropositionalWithoutKB(CurrentTestCase!.Strategy).CreatePlan(CurrentTestCase.Problem);
}

[Benchmark]
public Plan GoalSpaceSearch_PropositionalWithKB()
{
return new GoalSpaceSearch_PropositionalWithKB(CurrentTestCase!.Heuristic, CurrentTestCase.InvariantsKB).CreatePlan(CurrentTestCase.Problem);
return new GoalSpaceSearch_PropositionalWithKB(CurrentTestCase!.Strategy, CurrentTestCase.InvariantsKB).CreatePlan(CurrentTestCase.Problem);
}

private static IKnowledgeBase MakeInvariantsKB(IEnumerable<Sentence> invariants)
Expand Down
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