From 90b8d603e207924f5ef5d0fb2e54014e566c1ab4 Mon Sep 17 00:00:00 2001 From: Max Zuo Date: Wed, 26 Jun 2024 00:47:18 -0400 Subject: [PATCH] bug fixes to the evaluate algorithm + speedups for redce/equivalence. Added diagram to README and a short blurb on how to reproduce our results" --- README.md | 21 ++- assets/equivalence.png | Bin 0 -> 487879 bytes evaluate.py | 4 +- planetarium/__init__.py | 4 +- planetarium/evaluate.py | 4 +- planetarium/graph.py | 195 ++++++++----------- planetarium/oracle.py | 404 +++++++++++++++++++--------------------- pyproject.toml | 2 + tests/test_evaluate.py | 190 ++++++++++++++++++- tests/test_metric.py | 44 ++--- tests/test_oracle.py | 88 ++++----- tests/test_planner.py | 4 +- 12 files changed, 532 insertions(+), 428 deletions(-) create mode 100755 assets/equivalence.png diff --git a/README.md b/README.md index 7ead192..1b3322a 100644 --- a/README.md +++ b/README.md @@ -32,9 +32,9 @@ rm -rf tmp ## Basic Usage To evaluate a PDDL problem description, we can use the `planetarium.evaluate` module: ```python -from planetarium import evaluate +import planetarium ... -evaluate.evaluate(gt_pddl_str, pred_pddl_str) +planetarium.evaluate(gt_pddl_str, pred_pddl_str) ``` The supported domains are `blocksworld` and `gripper` domains. @@ -47,6 +47,7 @@ from datasets import load_dataset dataset = load_dataset("BatsResearch/planetarium") ``` +Here, `dataset["test"]` is the main test set used in the paper. You may evaluate on this set to reproduce our results. You can reporduce the dataset, the splits, and a report by running the following command: ```bash @@ -74,4 +75,18 @@ Total number of problems: $132,037$. | $20$ - $40$ | $10,765$ | $2,112$ | | $40$ - $60$ | $50,793$ | $9,412$ | | $60$ - $80$ | $26,316$ | $25,346$ | -| $80$ - inf | $3,464$ | $2,438$ | \ No newline at end of file +| $80$ - inf | $3,464$ | $2,438$ | + +## How it Works +Planetarium🪐 compares two PDDL problem descriptions by first transcribing them into a graph representation. +Graphs help us to better detect and manipulate relationships between certain objects and propositions. +Next, we build "fully specified" graph representations by adding "trivial" propositions (propositions that do not exist in the problem description but must exist in any state that satisfies such description). +Finally, we use graph isomorphism to compare the fully specified graph representations of the two PDDL problem descriptions, either comparing the entire problem graph or the individual initial and goal scene graphs. +This lets check correctness of the translation of the natural language description into PDDL, without ever needing to run a planner. + +Below is a flowchart providing an overview of the equivalence algorithm: + +![Equivalence Algorithm Overview](assets/equivalence.png) +

(Left) Two planning problems, in PDDL problem description, real-world scenario, and graph representations. (Center) Fully specified graph representation. (Right) Graph isomorphism.

+ +The key to this algorithm working is building a specially crafted "fully specify" function, which we build for each domain that we want to support. 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oracle.reduce(llm_problem_graph.decompose()[1], validate=True) + oracle.reduce(llm_problem_graph.init()) + oracle.reduce(llm_problem_graph.goal()) valid = True problem_graph = builder.build(problem_pddl) diff --git a/planetarium/__init__.py b/planetarium/__init__.py index 0b019ee..0512c5c 100644 --- a/planetarium/__init__.py +++ b/planetarium/__init__.py @@ -1,7 +1,9 @@ -__all__ = ["builder", "downward", "graph", "metric", "oracle"] +__all__ = ["builder", "downward", "graph", "metric", "oracle", "evaluate"] from . import builder from . import downward from . import graph from . import metric from . import oracle + +from .evaluate import evaluate diff --git a/planetarium/evaluate.py b/planetarium/evaluate.py index a515c93..26cf039 100644 --- a/planetarium/evaluate.py +++ b/planetarium/evaluate.py @@ -3,7 +3,7 @@ from pddl.parser.problem import LenientProblemParser from pddl.formatter import problem_to_string -from planetarium import * +from planetarium import builder, oracle, metric, downward VALIDATE = os.getenv("VALIDATE", "Validate") @@ -129,7 +129,7 @@ def evaluate( if source_graph == target_graph: equivalent = True - elif source_graph.decompose()[0] != target_graph.decompose()[0]: + elif not metric.equals(source_graph.init(), target_graph.init()): equivalent = False else: equivalent = metric.equals( diff --git a/planetarium/graph.py b/planetarium/graph.py index 75de566..bdc6feb 100644 --- a/planetarium/graph.py +++ b/planetarium/graph.py @@ -110,8 +110,15 @@ def __init__( """ super().__init__() - self._domain = domain - self._requirements = requirements + self._constants: list[dict[str, Any]] = [] + self._constant_nodes: list[PlanGraphNode] = [] + self._predicates: list[dict[str, Any]] = [] + self._predicate_nodes: list[PlanGraphNode] = [] + self._node_lookup: dict[str, tuple[int, PlanGraphNode]] = {} + self._nodes: list[PlanGraphNode] = [] + self._edges: set[tuple[int, int, PlanGraphEdge]] = set() + self._domain: str = domain + self._requirements: tuple[str] = requirements self.graph = rx.PyDiGraph() for constant in constants: @@ -124,35 +131,27 @@ def __init__( ) ) - @property - def _node_lookup(self) -> dict[str, tuple[int, PlanGraphNode]]: - return {node.node: (index, node) for index, node in enumerate(self.nodes)} - @cached_property def nodes(self) -> list[PlanGraphNode]: - return self.graph.nodes() + return self._nodes @cached_property def edges(self) -> set[tuple[PlanGraphNode, PlanGraphNode, PlanGraphEdge]]: - return [ - (self.nodes[u], self.nodes[v], data) - for u, v, data in self.graph.edge_index_map().values() - ] + return self._edges def add_node(self, node: PlanGraphNode): if node in self.nodes: raise ValueError(f"Node {node} already exists in the graph.") - self.graph.add_node(node) + index = self.graph.add_node(node) if node.label == Label.CONSTANT: - self.__dict__.pop("constant_nodes", None) - self.__dict__.pop("constants", None) + self._constants.append({"name": node.name, "typing": node.typing}) + self._constant_nodes.append(node) elif node.label == Label.PREDICATE: - self.__dict__.pop("predicate_nodes", None) - self.__dict__.pop("predicates", None) + self._predicate_nodes.append(node) - self.__dict__.pop("nodes", None) - self.__dict__.pop("_node_lookup", None) + self._nodes.append(node) + self._node_lookup[node.node] = (index, node) def has_edge( self, @@ -181,17 +180,15 @@ def add_edge( if isinstance(u, PlanGraphNode): u_index = self.nodes.index(u) else: - u_index, _ = self._node_lookup[u] + u_index, u = self._node_lookup[u] if isinstance(v, PlanGraphNode): v_index = self.nodes.index(v) else: - v_index, _ = self._node_lookup[v] + v_index, v = self._node_lookup[v] self.graph.add_edge(u_index, v_index, edge) - - self.__dict__.pop("edges", None) - self.__dict__.pop("predicates", None) + self._edges.add((u, v, edge)) def _add_predicate( self, @@ -205,6 +202,7 @@ def _add_predicate( predicate (dict): A dictionary representing the predicate. scene (Scene, optional): The scene in which the predicate occurs. """ + predicate.update({"scene": scene}) predicate_name = self._build_unique_predicate_name( predicate_name=predicate["typing"], argument_names=predicate["parameters"], @@ -232,6 +230,8 @@ def _add_predicate( ), ) + self._predicates.append(predicate) + def in_degree(self, node: str | PlanGraphNode) -> int: if isinstance(node, PlanGraphNode): return self.graph.in_degree(self.nodes.index(node)) @@ -314,39 +314,24 @@ def constant_nodes(self) -> list[PlanGraphNode]: Returns: list[PlanGraphNode]: A list of constant nodes. """ - return [node for node in self.nodes if node.label == Label.CONSTANT] + return self._constant_nodes - @cached_property + @property def constants(self) -> list[dict[str, Any]]: - return [ - {"name": constant.name, "typing": constant.typing} - for constant in self.constant_nodes - ] + return self._constants - @cached_property + @property def predicate_nodes(self) -> list[PlanGraphNode]: """Get a list of predicate nodes in the scene graph. Returns: list[PlanGraphNode]: A list of predicate nodes. """ - return [node for node in self.nodes if node.label == Label.PREDICATE] + return self._predicate_nodes @property def predicates(self) -> list[dict[str, Any]]: - predicates = [] - for node in self.predicate_nodes: - edges = self.out_edges(node) - edges.sort(key=lambda x: x[1].position) - predicates.append( - { - "typing": node.typing, - "parameters": [obj_node.name for obj_node, _ in edges], - "scene": node.scene, - } - ) - - return predicates + return self._predicates def __eq__(self, other: "PlanGraph") -> bool: """ @@ -393,8 +378,7 @@ def plot(self, fig: plt.Figure | None = None) -> plt.Figure: scale=-1, ) - if fig is None: - fig = plt.figure() + fig = fig or plt.figure() nx.draw(nx_graph, pos=pos, ax=fig.gca(), with_labels=True) @@ -472,12 +456,16 @@ def __init__( """ super().__init__(constants, domain=domain, requirements=requirements) - for scene, predicates in ( - (Scene.INIT, init_predicates), - (Scene.GOAL, goal_predicates), - ): - for predicate in predicates: - self._add_predicate(predicate, scene=scene) + self._init_predicates: list[dict[str, Any]] = [] + self._init_predicate_nodes: list[PlanGraphNode] = [] + self._goal_predicates: list[dict[str, Any]] = [] + self._goal_predicate_nodes: list[PlanGraphNode] = [] + + for predicate in init_predicates: + self._add_predicate(predicate, scene=Scene.INIT) + + for predicate in goal_predicates: + self._add_predicate(predicate, scene=Scene.GOAL) def __eq__(self, other: "ProblemGraph") -> bool: return ( @@ -489,93 +477,52 @@ def __eq__(self, other: "ProblemGraph") -> bool: def add_node(self, node: PlanGraphNode): super().add_node(node) if node.label == Label.PREDICATE: - self.__dict__.pop("init_predicate_nodes", None) - self.__dict__.pop("goal_predicate_nodes", None) - self.__dict__.pop("init_predicates", None) - self.__dict__.pop("goal_predicates", None) + if node.scene == Scene.INIT: + self._init_predicate_nodes.append(node) + elif node.scene == Scene.GOAL: + self._goal_predicate_nodes.append(node) - self.__dict__.pop("_decompose", None) + def _add_predicate(self, predicate: dict[str, Any], scene: Scene | None = None): + super()._add_predicate(predicate, scene) - def add_edge( - self, u: str | PlanGraphNode, v: str | PlanGraphNode, edge: PlanGraphEdge - ): - super().add_edge(u, v, edge) + if scene == Scene.INIT: + self._init_predicates.append(predicate) + elif scene == Scene.GOAL: + self._goal_predicates.append(predicate) - self.__dict__.pop("init_predicate_nodes", None) - self.__dict__.pop("goal_predicate_nodes", None) - self.__dict__.pop("init_predicates", None) - self.__dict__.pop("goal_predicates", None) - - self.__dict__.pop("_decompose", None) - - @cached_property + @property def init_predicate_nodes(self) -> list[PlanGraphNode]: """Get a list of predicate nodes in the initial scene. Returns: list[PlanGraphNode]: A list of predicate nodes in the initial scene. """ - return [ - node - for node in self.nodes - if node.label == Label.PREDICATE and node.scene == Scene.INIT - ] + return self._init_predicate_nodes - @cached_property + @property def goal_predicate_nodes(self) -> list[PlanGraphNode]: """Get a list of predicate nodes in the goal scene. Returns: list[PlanGraphNode]: A list of predicate nodes in the goal scene. """ - return [ - node - for node in self.nodes - if node.label == Label.PREDICATE and node.scene == Scene.GOAL - ] + return self._goal_predicate_nodes - @cached_property + @property def init_predicates(self) -> list[dict[str, Any]]: - predicates = [] - for node in self.init_predicate_nodes: - edges = self.out_edges(node) - edges.sort(key=lambda x: x[1].position) - predicates.append( - { - "typing": node.typing, - "parameters": [obj_node.name for obj_node, _ in edges], - "scene": node.scene, - } - ) - - return predicates + return self._init_predicates - @cached_property + @property def goal_predicates(self) -> list[dict[str, Any]]: - predicates = [] - for node in self.goal_predicate_nodes: - edges = self.out_edges(node) - edges.sort(key=lambda x: x[1].position) - predicates.append( - { - "typing": node.typing, - "parameters": [obj_node.name for obj_node, _ in edges], - "scene": node.scene, - } - ) - - return predicates + return self._goal_predicates - @cached_property - def _decompose(self) -> tuple[SceneGraph, SceneGraph]: - """ - Decompose the problem graph into initial and goal scene graphs. + def init(self) -> SceneGraph: + """Return the initial scene graph. Returns: - tuple[SceneGraph, SceneGraph]: A tuple containing the initial and goal scene graphs. + SceneGraph: The initial scene graph. """ - - init_scene = SceneGraph( + return SceneGraph( constants=self.constants, predicates=self.init_predicates, domain=self.domain, @@ -583,7 +530,13 @@ def _decompose(self) -> tuple[SceneGraph, SceneGraph]: requirements=self._requirements, ) - goal_scene = SceneGraph( + def goal(self) -> SceneGraph: + """Return the goal scene graph. + + Returns: + SceneGraph: The goal scene graph. + """ + return SceneGraph( constants=self.constants, predicates=self.goal_predicates, domain=self.domain, @@ -591,17 +544,17 @@ def _decompose(self) -> tuple[SceneGraph, SceneGraph]: requirements=self._requirements, ) - return init_scene, goal_scene - def decompose(self) -> tuple[SceneGraph, SceneGraph]: - """ - Decompose the problem graph into initial and goal scene graphs. + """Decompose the problem graph into initial and goal scene graphs. Returns: tuple[SceneGraph, SceneGraph]: A tuple containing the initial and goal scene graphs. """ - return self._decompose + init_scene = self.init() + goal_scene = self.goal() + + return init_scene, goal_scene @staticmethod def join(init: SceneGraph, goal: SceneGraph) -> "ProblemGraph": diff --git a/planetarium/oracle.py b/planetarium/oracle.py index d269d9b..89c2cd4 100644 --- a/planetarium/oracle.py +++ b/planetarium/oracle.py @@ -68,7 +68,7 @@ def __init__( e, name=predicate, label=graph.Label.PREDICATE, - typing={predicate}, + typing=predicate, ), ) @@ -89,7 +89,7 @@ def __init__( e, name=predicate, label=graph.Label.PREDICATE, - typing={predicate}, + typing=predicate, ), ) @@ -142,21 +142,12 @@ class DomainNotSupportedError(Exception): def _reduce_blocksworld( scene: graph.SceneGraph | graph.ProblemGraph, - validate: bool = True, ) -> ReducedSceneGraph | ReducedProblemGraph: """Reduces a blocksworld scene graph to a Directed Acyclic Graph. Args: problem (graph.SceneGraph | graph.ProblemGraph): The scene graph to reduce. - validate (bool, optional): Whether or not to validate if the reduced - reprsentation is valid. Defaults to True. - - Raises: - ValueError: If the reduced graph is not a Directed Acyclic Graph and - validate is True. - ValueError: If a node has multiple parents/children (not allowed in - blocksworld) and if validate is True. Returns: ReducedGraph: The reduced problem graph. @@ -166,62 +157,51 @@ def _reduce_blocksworld( for node in scene.nodes: nodes[node.label].append(node) - if isinstance(scene, graph.ProblemGraph): - reduced = ReducedProblemGraph( - constants=scene.constants, - domain="blocksworld", - requirements=scene._requirements, - ) - elif isinstance(scene, graph.SceneGraph): - reduced = ReducedSceneGraph( - constants=scene.constants, - domain="blocksworld", - scene=scene.scene, - requirements=scene._requirements, - ) - else: - raise ValueError("Scene must be a SceneGraph or ProblemGraph.") - - for pred_node in scene.predicate_nodes: - if pred_node.typing == "arm-empty": - reduced.add_edge( - ReducedNode.CLEAR, - ReducedNode.ARM, - graph.PlanGraphEdge( - predicate="arm-empty", - scene=pred_node.scene, - ), + match scene: + case graph.ProblemGraph( + _constants=constants, + _predicates=predicates, + _domain=domain, + _requirements=requirements, + ): + reduced = ReducedProblemGraph( + constants=constants, + domain=domain, + requirements=requirements, ) + case graph.SceneGraph( + constants=constants, + _predicates=predicates, + scene=scene, + _domain=domain, + _requirements=requirements, + ): + reduced = ReducedSceneGraph( + constants=constants, + domain=domain, + scene=scene, + requirements=requirements, + ) + case _: + raise ValueError("Scene must be a SceneGraph or ProblemGraph.") - pred_nodes = set() - for node, obj, edge in scene.edges: - pred = edge.predicate - reduced_edge = graph.PlanGraphEdge(predicate=pred, scene=edge.scene) - if node in pred_nodes: - continue - if pred == "on-table": - reduced.add_edge(obj, ReducedNode.TABLE, reduced_edge) - elif pred == "clear": - reduced.add_edge(ReducedNode.CLEAR, obj, reduced_edge) - elif pred == "on": - pos = edge.position - other_obj, *_ = [ - v.node for v, a in scene.out_edges(node) if a.position == 1 - pos - ] - if pos == 0: - reduced.add_edge(obj, other_obj, reduced_edge) - elif pred == "holding": - reduced.add_edge(obj, ReducedNode.ARM, reduced_edge) - pred_nodes.add(node) - - if validate: - if isinstance(reduced, ReducedProblemGraph): - init, goal = reduced.decompose() - _validate_blocksworld(init) - _validate_blocksworld(goal) - elif isinstance(reduced, ReducedSceneGraph): - _validate_blocksworld(reduced) - + for predicate in predicates: + params = predicate["parameters"] + reduced_edge = graph.PlanGraphEdge( + predicate=predicate["typing"], + scene=predicate.get("scene"), + ) + match (predicate["typing"], len(params)): + case ("arm-empty", 0): + reduced.add_edge(ReducedNode.CLEAR, ReducedNode.ARM, reduced_edge) + case ("on-table", 1): + reduced.add_edge(params[0], ReducedNode.TABLE, reduced_edge) + case ("clear", 1): + reduced.add_edge(ReducedNode.CLEAR, params[0], reduced_edge) + case ("on", 2): + reduced.add_edge(params[0], params[1], reduced_edge) + case ("holding", 1): + reduced.add_edge(params[0], ReducedNode.ARM, reduced_edge) return reduced @@ -263,14 +243,11 @@ def _validate_blocksworld(scene: graph.SceneGraph): def _reduce_gripper( scene: graph.SceneGraph | graph.ProblemGraph, - validate: bool = True, ) -> ReducedSceneGraph | ReducedProblemGraph: """Reduces a gripper scene graph to a Directed Acyclic Graph. Args: scene (graph.SceneGraph): The scene graph to reduce. - validate (bool, optional): Whether or not to validate if the reduced - reprsentation is valid and a DAG. Defaults to True. Returns: ReducedGraph: The reduced problem graph. @@ -279,47 +256,55 @@ def _reduce_gripper( for node in scene.nodes: nodes[node.label].append(node) - if isinstance(scene, graph.ProblemGraph): - reduced = ReducedProblemGraph( - constants=scene.constants, - domain="gripper", - requirements=scene._requirements, - ) - elif isinstance(scene, graph.SceneGraph): - reduced = ReducedSceneGraph( - constants=scene.constants, - domain="gripper", - scene=scene.scene, - requirements=scene._requirements, - ) - else: - raise ValueError("Scene must be a SceneGraph or ProblemGraph.") - - pred_nodes = set() - for node, obj, edge in scene.edges: - pred = edge.predicate - reduced_edge = graph.PlanGraphEdge(predicate=pred, scene=edge.scene) - if node in pred_nodes: - continue - elif pred == "at-robby": - reduced.add_edge(ReducedNode.ROBBY, obj, reduced_edge) - elif pred == "free": - reduced.add_edge(ReducedNode.FREE, obj, reduced_edge) - elif pred == "ball": - reduced.add_edge(ReducedNode.BALLS, obj, reduced_edge) - elif pred == "gripper": - reduced.add_edge(ReducedNode.GRIPPERS, obj, reduced_edge) - elif pred == "room": - reduced.add_edge(ReducedNode.ROOMS, obj, reduced_edge) - elif pred in {"carry", "at"}: - pos = edge.position - other_obj, *_ = [ - v for v, a in scene.out_edges(node) if a.position == 1 - pos - ] - if pos == 0: - reduced.add_edge(obj, other_obj, reduced_edge) + match scene: + case graph.ProblemGraph( + _constants=constants, + _predicates=predicates, + _domain=domain, + _requirements=requirements, + ): + reduced = ReducedProblemGraph( + constants=constants, + domain=domain, + requirements=requirements, + ) + case graph.SceneGraph( + constants=constants, + _predicates=predicates, + scene=scene, + _domain=domain, + _requirements=requirements, + ): + reduced = ReducedSceneGraph( + constants=constants, + domain=domain, + scene=scene, + requirements=requirements, + ) + case _: + raise ValueError("Scene must be a SceneGraph or ProblemGraph.") - pred_nodes.add(node) + for predicate in predicates: + params = predicate["parameters"] + reduced_edge = graph.PlanGraphEdge( + predicate=predicate["typing"], + scene=predicate.get("scene"), + ) + match (predicate["typing"], len(params)): + case ("at-robby", 1): + reduced.add_edge(ReducedNode.ROBBY, params[0], reduced_edge) + case ("free", 1): + reduced.add_edge(ReducedNode.FREE, params[0], reduced_edge) + case ("ball", 1): + reduced.add_edge(ReducedNode.BALLS, params[0], reduced_edge) + case ("gripper", 1): + reduced.add_edge(ReducedNode.GRIPPERS, params[0], reduced_edge) + case ("room", 1): + reduced.add_edge(ReducedNode.ROOMS, params[0], reduced_edge) + case ("at", 2): + reduced.add_edge(params[0], params[1], reduced_edge) + case ("carry", 2): + reduced.add_edge(params[0], params[1], reduced_edge) return reduced @@ -327,7 +312,6 @@ def _reduce_gripper( def reduce( graph: graph.SceneGraph, domain: str | None = None, - validate: bool = True, ) -> ReducedSceneGraph | ReducedProblemGraph: """Reduces a scene graph to a Directed Acyclic Graph. @@ -335,11 +319,6 @@ def reduce( graph (graph.SceneGraph): The scene graph to reduce. domain (str, optional): The domain of the scene graph. Defaults to "blocksworld". - validate (bool, optional): Whether or not to validate if the reduced - reprsentation is valid and a DAG. Defaults to True. - - Raises: - ValueError: If a certain domain is provided but not supported. Returns: ReducedGraph: The reduced problem graph. @@ -347,9 +326,9 @@ def reduce( domain = domain or graph.domain match domain: case "blocksworld": - return _reduce_blocksworld(graph, validate=validate) + return _reduce_blocksworld(graph) case "gripper": - return _reduce_gripper(graph, validate=validate) + return _reduce_gripper(graph) case _: raise DomainNotSupportedError(f"Domain {domain} not supported.") @@ -373,46 +352,47 @@ def _inflate_blocksworld( constants.append({"name": node.node, "typing": node.typing}) for u, v, edge in scene.edges: - if u.node == ReducedNode.CLEAR and v.node == ReducedNode.ARM: - predicates.append( - { - "typing": "arm-empty", - "parameters": [], - "scene": edge.scene, - } - ) - elif u.node == ReducedNode.CLEAR: - predicates.append( - { - "typing": "clear", - "parameters": [v.node], - "scene": edge.scene, - } - ) - elif v.node == ReducedNode.TABLE: - predicates.append( - { - "typing": "on-table", - "parameters": [u.node], - "scene": edge.scene, - } - ) - elif v.node == ReducedNode.ARM: - predicates.append( - { - "typing": "holding", - "parameters": [u.node], - "scene": edge.scene, - } - ) - else: - predicates.append( - { - "typing": "on", - "parameters": [u.node, v.node], - "scene": edge.scene, - } - ) + match (u.node, v.node): + case (ReducedNode.CLEAR, ReducedNode.ARM): + predicates.append( + { + "typing": "arm-empty", + "parameters": [], + "scene": edge.scene, + } + ) + case (ReducedNode.CLEAR, _): + predicates.append( + { + "typing": "clear", + "parameters": [v.node], + "scene": edge.scene, + } + ) + case (_, ReducedNode.TABLE): + predicates.append( + { + "typing": "on-table", + "parameters": [u.node], + "scene": edge.scene, + } + ) + case (_, ReducedNode.ARM): + predicates.append( + { + "typing": "holding", + "parameters": [u.node], + "scene": edge.scene, + } + ) + case (_, _): + predicates.append( + { + "typing": "on", + "parameters": [u.node, v.node], + "scene": edge.scene, + } + ) if isinstance(scene, ReducedProblemGraph): return graph.ProblemGraph( @@ -451,54 +431,55 @@ def _inflate_gripper( constants.append({"name": node.node, "typing": node.typing}) for u, v, edge in scene.edges: - if u.node == ReducedNode.ROBBY: - predicates.append( - { - "typing": "at-robby", - "parameters": [v.node], - "scene": edge.scene, - } - ) - elif u.node == ReducedNode.FREE: - predicates.append( - { - "typing": "free", - "parameters": [v.node], - "scene": edge.scene, - } - ) - elif u.node == ReducedNode.BALLS: - predicates.append( - { - "typing": "ball", - "parameters": [v.node], - "scene": edge.scene, - } - ) - elif u.node == ReducedNode.GRIPPERS: - predicates.append( - { - "typing": "gripper", - "parameters": [v.node], - "scene": edge.scene, - } - ) - elif u.node == ReducedNode.ROOMS: - predicates.append( - { - "typing": "room", - "parameters": [v.node], - "scene": edge.scene, - } - ) - else: - predicates.append( - { - "typing": edge.predicate, - "parameters": [u.node, v.node], - "scene": edge.scene, - } - ) + match (u.node, v.node): + case (ReducedNode.ROBBY, _): + predicates.append( + { + "typing": "at-robby", + "parameters": [v.node], + "scene": edge.scene, + } + ) + case (ReducedNode.FREE, _): + predicates.append( + { + "typing": "free", + "parameters": [v.node], + "scene": edge.scene, + } + ) + case (ReducedNode.BALLS, _): + predicates.append( + { + "typing": "ball", + "parameters": [v.node], + "scene": edge.scene, + } + ) + case (ReducedNode.GRIPPERS, _): + predicates.append( + { + "typing": "gripper", + "parameters": [v.node], + "scene": edge.scene, + } + ) + case (ReducedNode.ROOMS, _): + predicates.append( + { + "typing": "room", + "parameters": [v.node], + "scene": edge.scene, + } + ) + case (_, _): + predicates.append( + { + "typing": edge.predicate, + "parameters": [u.node, v.node], + "scene": edge.scene, + } + ) if isinstance(scene, ReducedProblemGraph): return graph.ProblemGraph( @@ -949,17 +930,16 @@ def plan(problem: graph.ProblemGraph, domain: str | None = None) -> list[Action] domain = domain or problem.domain try: problem = fully_specify(problem, domain=domain, return_reduced=True) + match domain: + case "blocksworld": + return _plan_blocksworld(problem) + case "gripper": + return _plan_gripper(problem) + case _: + raise DomainNotSupportedError(f"Domain {domain} not supported.") except Exception: return [] - match domain: - case "blocksworld": - return _plan_blocksworld(problem) - case "gripper": - return _plan_gripper(problem) - case _: - raise DomainNotSupportedError(f"Domain {domain} not supported.") - def plan_to_string(actions: list[Action]) -> str: """Converts a list of actions to a string. diff --git a/pyproject.toml b/pyproject.toml index 19bc510..6498cfa 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -27,6 +27,8 @@ pytest-timeout = "^2.2.0" pytest-subtests = "^0.12.1" black = {extras = ["jupyter"], version = "^24.4.2"} +[tool.poetry.group.all] +optional = true [tool.poetry.group.all.dependencies] lark = "^1.1.9" diff --git a/tests/test_evaluate.py b/tests/test_evaluate.py index 368941f..2351d58 100644 --- a/tests/test_evaluate.py +++ b/tests/test_evaluate.py @@ -1,15 +1,150 @@ from itertools import product +import pytest -from planetarium import evaluate +import planetarium from .test_oracle import ( blocksworld_underspecified, blocksworld_missing_clears, blocksworld_missing_ontables, blocksworld_fully_specified, + blocksworld_invalid_1, ) +@pytest.fixture +def blocksworld_wrong_init(): + """ + Fixture providing a fully specified blocksworld problem with wrong init. + """ + return """ + (define (problem staircase) + (:domain blocksworld) + (:objects + b1 b2 b3 b4 b5 b6 + ) + (:init + (arm-empty) + (on-table b1) + (clear b1) + (on-table b2) + (clear b2) + (on-table b3) + (clear b3) + (on-table b4) + (clear b4) + (on-table b5) + (on b6 b5) + (clear b6) + ) + (:goal + (and + (on-table b1) + (clear b1) + + (on-table b2) + (on b3 b2) + (clear b3) + + (on-table b4) + (on b5 b4) + (on b6 b5) + (clear b6) + ) + ) + ) + """ + + +@pytest.fixture +def blocksworld_unsolveable(): + """ + Fixture providing a fully specified blocksworld problem with wrong init. + """ + return """ + (define (problem staircase) + (:domain blocksworld) + (:objects + b1 b2 b3 b4 b5 b6 + ) + (:init + (arm-empty) + (on-table b1) + (clear b1) + (on-table b2) + (clear b2) + (on-table b3) + (clear b3) + (on-table b4) + (clear b4) + (on-table b5) + (on b6 b5) + (clear b6) + ) + (:goal + (and + (on-table b1) + (clear b1) + + (on-table b2) + (on b3 b2) + (clear b3) + + (on-table b4) + (on b5 b4) + (clear b5) + (on b6 b5) + (clear b6) + ) + ) + ) + """ + + +@pytest.fixture +def blocksworld_unparseable(): + """ + Fixture providing an unparseable blocksworld problem. + """ + return """ + (define (problem staircase) + (:domain blocksworld) + (:objects + b1 b2 b3 b4 b5 b6 + )) + (:init + (arm-empty) + (on-table b1) + (clear b1) + (on-table b2) + (clear b2) + (on-table b3) + (clear b3) + (on-table b4) + (clear b4) + (on-table b5) + (on b6 b5) + (clear b6) + ) + (:goal + (and + (on-table b1) + (clear b1) + + (on-table b2) + (on b3 b2) + (clear b3) + + (on-table b4) + (on b5 b4) + (on b6 b5) + (clear b6) + ) + ) + ) + """ + + class TestEvaluate: """ Test suite for the evaluation of PDDL problem descriptions. @@ -33,10 +168,16 @@ def test_evaluate_equivalent( ] for (name1, desc1), (name2, desc2) in product(descs, descs): with subtests.test(f"{name1} equals {name2}"): - assert all(evaluate.evaluate(desc1, desc2)) + assert all(planetarium.evaluate(desc1, desc2)) - with subtests.test("blocksworld_underspecified equals blocksworld_underspecified"): - assert all(evaluate.evaluate(blocksworld_underspecified, blocksworld_underspecified)) + with subtests.test( + "blocksworld_underspecified equals blocksworld_underspecified" + ): + assert all( + planetarium.evaluate( + blocksworld_underspecified, blocksworld_underspecified + ) + ) def test_evaluate_inequivalent( self, @@ -45,6 +186,9 @@ def test_evaluate_inequivalent( blocksworld_fully_specified, blocksworld_missing_ontables, blocksworld_underspecified, + blocksworld_wrong_init, + blocksworld_unparseable, + blocksworld_unsolveable, ): """ Test if the evaluation of PDDL problem descriptions is correct. @@ -54,10 +198,40 @@ def test_evaluate_inequivalent( ("blocksworld_fully_specified", blocksworld_fully_specified), ("blocksworld_missing_ontables", blocksworld_missing_ontables), ] - for name1, desc1 in descs: - with subtests.test(f"{name1} not equals blocksworld_underspecified"): - assert evaluate.evaluate(desc1, blocksworld_underspecified) == ( + for name, desc in descs: + with subtests.test(f"{name} not equals blocksworld_underspecified"): + assert planetarium.evaluate(desc, blocksworld_underspecified) == ( True, True, False, - ) \ No newline at end of file + ) + + with subtests.test(f"{name} not equals blocksworld_wrong_init"): + assert planetarium.evaluate(desc, blocksworld_wrong_init) == ( + True, + True, + False, + ) + with subtests.test(f"{name} not equals blocksworld_unparseable"): + assert planetarium.evaluate(desc, blocksworld_unparseable) == ( + False, + False, + False, + ) + with subtests.test(f"{name} not equals blocksworld_unsolveable"): + assert planetarium.evaluate(desc, blocksworld_unsolveable) == ( + True, + False, + False, + ) + + with subtests.test( + "blocksworld_underspecified not equals blocksworld_wrong_init" + ): + assert planetarium.evaluate( + blocksworld_underspecified, blocksworld_wrong_init + ) == ( + True, + True, + False, + ) diff --git a/tests/test_metric.py b/tests/test_metric.py index 4aa8bf2..08931ab 100644 --- a/tests/test_metric.py +++ b/tests/test_metric.py @@ -243,6 +243,7 @@ def test_move(self, move_problem_string, wrong_move_problem_string): def test_blocksworld_equivalence( self, + subtests, blocksworld_fully_specified, blocksworld_missing_clears, blocksworld_missing_ontables, @@ -259,29 +260,30 @@ def test_blocksworld_equivalence( p3 = oracle.fully_specify(p3) p4 = oracle.fully_specify(p4) - # equivalence to itself - assert metric.equals(p1, p1, is_placeholder=True) - assert metric.equals(p2, p2, is_placeholder=True) - assert metric.equals(p3, p3, is_placeholder=True) - assert metric.equals(p4, p4, is_placeholder=True) + P = ( + ("blocksworld_fully_specified", p1), + ("blocksworld_missing_clears", p2), + ("blocksworld_missing_ontables", p3), + ("blocksworld_underspecified", p4), + ) - assert metric.equals(p1, p1, is_placeholder=False) - assert metric.equals(p2, p2, is_placeholder=False) - assert metric.equals(p3, p3, is_placeholder=False) - assert metric.equals(p4, p4, is_placeholder=False) + # equivalence to itself + for name, p in P: + with subtests.test(f"{name} equals {name}"): + assert metric.equals(p, p, is_placeholder=True) + assert metric.equals(p, p, is_placeholder=False) # check invalid equivalence # check invalid equivalence - assert not metric.equals(p1, p4, is_placeholder=True) - assert not metric.equals(p1, p4, is_placeholder=False) - assert not metric.equals(p4, p1, is_placeholder=True) - assert not metric.equals(p4, p1, is_placeholder=False) - assert not metric.equals(p2, p4, is_placeholder=True) - assert not metric.equals(p2, p4, is_placeholder=False) - assert not metric.equals(p4, p2, is_placeholder=True) - assert not metric.equals(p4, p2, is_placeholder=False) - assert not metric.equals(p3, p4, is_placeholder=True) - assert not metric.equals(p3, p4, is_placeholder=False) - assert not metric.equals(p4, p3, is_placeholder=True) - assert not metric.equals(p4, p3, is_placeholder=False) + for idx1, idx2 in ( + (0, 3), + (1, 3), + (2, 3), + ): + (name1, p1), (name2, p2) = P[idx1], P[idx2] + with subtests.test(f"{name1} not equals {name2}"): + assert not metric.equals(p1, p2, is_placeholder=True) + assert not metric.equals(p1, p2, is_placeholder=False) + assert not metric.equals(p2, p1, is_placeholder=True) + assert not metric.equals(p2, p1, is_placeholder=False) diff --git a/tests/test_oracle.py b/tests/test_oracle.py index d778c14..6ffd925 100644 --- a/tests/test_oracle.py +++ b/tests/test_oracle.py @@ -1004,40 +1004,20 @@ def test_inflate( "blocksworld_underspecified_arm": blocksworld_underspecified_arm, "blocksworld_holding": blocksworld_holding, }.items(): + problem = builder.build(desc) + init, goal = problem.decompose() with subtests.test(name): - problem = builder.build(desc) - init, goal = problem.decompose() assert reduce_and_inflate(init) assert reduce_and_inflate(goal) assert reduce_and_inflate(problem) assert problem == oracle.inflate( oracle.ReducedProblemGraph.join( - oracle.reduce(init, validate=True), - oracle.reduce(goal, validate=True), + oracle.reduce(init), + oracle.reduce(goal), ) ) - def test_invalid( - self, - subtests, - blocksworld_invalid_1, - blocksworld_invalid_2, - blocksworld_invalid_3, - ): - for name, desc in { - "blocksworld_invalid_1": blocksworld_invalid_1, - "blocksworld_invalid_2": blocksworld_invalid_2, - "blocksworld_invalid_3": blocksworld_invalid_3, - }.items(): - with subtests.test(name): - problem = builder.build(desc) - _, goal = problem.decompose() - with pytest.raises(ValueError): - oracle.reduce(goal, validate=True) - with pytest.raises(ValueError): - oracle.reduce(problem, validate=True) - class TestGripperOracle: """ @@ -1046,6 +1026,7 @@ class TestGripperOracle: def test_fully_specified( self, + subtests, gripper_fully_specified, gripper_no_goal_types, gripper_fully_specified_not_strict, @@ -1053,28 +1034,18 @@ def test_fully_specified( """ Test the fully specified gripper problem. """ - problem = builder.build(gripper_fully_specified) - full = oracle.fully_specify(problem) - assert oracle.fully_specify(full) == full - - problem = builder.build(gripper_no_goal_types) - full = oracle.fully_specify(problem) - assert oracle.fully_specify(full) == full - - problem = builder.build(gripper_fully_specified_not_strict) - full = oracle.fully_specify(problem) - assert oracle.fully_specify(full) == full - - def test_inflate(self, gripper_fully_specified): - """ - Test the inflate function. - """ - - init, goal = builder.build(gripper_fully_specified).decompose() - assert reduce_and_inflate(init) - assert reduce_and_inflate(goal) + descs = [ + ("gripper_fully_specified", gripper_fully_specified), + ("gripper_no_goal_types", gripper_no_goal_types), + ("gripper_fully_specified_not_strict", gripper_fully_specified_not_strict), + ] + for name, desc in descs: + with subtests.test(name): + problem = builder.build(desc) + full = oracle.fully_specify(problem) + assert oracle.fully_specify(full) == full - def test_reduce_inflate( + def test_inflate( self, subtests, gripper_fully_specified, @@ -1082,18 +1053,25 @@ def test_reduce_inflate( gripper_underspecified_1, gripper_underspecified_2, gripper_underspecified_3, + gripper_no_robby_init, ): - for name, desc in { - "gripper_fully_specified": gripper_fully_specified, - "gripper_no_robby": gripper_no_robby, - "gripper_underspecified_1": gripper_underspecified_1, - "gripper_underspecified_2": gripper_underspecified_2, - "gripper_underspecified_3": gripper_underspecified_3, - }.items(): - with subtests.test(name): - problem = builder.build(desc) - init, goal = problem.decompose() + """ + Test the inflate function. + """ + descs = [ + ("gripper_fully_specified", gripper_fully_specified), + ("gripper_no_robby", gripper_no_robby), + ("gripper_underspecified_1", gripper_underspecified_1), + ("gripper_underspecified_2", gripper_underspecified_2), + ("gripper_underspecified_3", gripper_underspecified_3), + ("gripper_no_robby_init", gripper_no_robby_init), + ] + + for name, desc in descs: + problem = builder.build(desc) + init, goal = problem.decompose() + with subtests.test(name): assert reduce_and_inflate(init) assert reduce_and_inflate(goal) assert reduce_and_inflate(problem) diff --git a/tests/test_planner.py b/tests/test_planner.py index 08e071e..5249453 100644 --- a/tests/test_planner.py +++ b/tests/test_planner.py @@ -161,13 +161,11 @@ def test_invalid_plan( """ domain = DOMAINS["blocksworld"] for name, desc in { - "blocksworld_invalid_1": blocksworld_invalid_1, "blocksworld_invalid_2": blocksworld_invalid_2, - "blocksworld_invalid_3": blocksworld_invalid_3, }.items(): with subtests.test(name): plan = oracle.plan(builder.build(desc)) - assert plan == [], name + assert plan == [], f"{name}: {plan}" plan_str = oracle.plan_to_string(plan) assert not downward.validate(domain, desc, plan_str, VALIDATE)