Skip to content

Commit

Permalink
replaced links with permalinks
Browse files Browse the repository at this point in the history
  • Loading branch information
@maxzuo
maxzuo committed Sep 10, 2024
1 parent 4ca5309 commit e7be47a
Showing 1 changed file with 8 additions and 8 deletions.
16 changes: 8 additions & 8 deletions EXTENDING.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,12 @@ Add a domain PDDL file to the `planetarium/domains/` directory, where the filena

### 2. Add an Oracle

Every domain in Planetarium requires an [`Oracle`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/oracles/oracle.py#L8) object and file tied to it.
Every domain in Planetarium requires an [`Oracle`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/oracles/oracle.py#L8) object and file tied to it.
There are three fundamental components to the Oracle:

- [`.reduce()`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/oracles/oracle.py#L11) function, which takes a [`ProblemGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/graph.py#L430) or [`SceneGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/graph.py#L391) object and returns a [`ReducedProblemGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/reduced_graph.py#L80) or [`ReducedSceneGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/reduced_graph.py#L48) object, respectively.
- [`.inflate()`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/oracles/oracle.py#L26) function, which takes a [`ReducedProblemGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/reduced_graph.py#L80) or [`ReducedSceneGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/reduced_graph.py#L48) object and returns a [`ProblemGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/graph.py#L430) or [`SceneGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/graph.py#L391) object, respectively.
- [`.fully_specify()`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/oracles/oracle.py#L40) function, which takes a [`ProblemGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/graph.py#L430) and returns either a [`ProblemGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/graph.py#L430) or a [`ReducedProblemGraph`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/reduced_graph.py#L80) with all possible predicates added to the goal scene without changing the original definition of the problem.
- [`.reduce()`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/oracles/oracle.py#L11) function, which takes a [`ProblemGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/graph.py#L430) or [`SceneGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/graph.py#L391) object and returns a [`ReducedProblemGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/reduced_graph.py#L80) or [`ReducedSceneGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/reduced_graph.py#L48) object, respectively.
- [`.inflate()`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/oracles/oracle.py#L65) function, which takes a [`ReducedProblemGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/reduced_graph.py#L80) or [`ReducedSceneGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/reduced_graph.py#L48) object and returns a [`ProblemGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/graph.py#L430) or [`SceneGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/graph.py#L391) object, respectively.
- [`.fully_specify()`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/oracles/oracle.py#L125) function, which takes a [`ProblemGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/graph.py#L430) and returns either a [`ProblemGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/graph.py#L430) or a [`ReducedProblemGraph`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/reduced_graph.py#L80) with all possible predicates added to the goal scene without changing the original definition of the problem.
We refer to these predicates as "trivial predicates" in our paper.
The `fully_specify` function is used to ensure that the problem is fully specified before evaluation.

Expand Down Expand Up @@ -47,9 +47,9 @@ Some predicates require special care for reducing and inflating.
The key idea behind our reduced representation is to represent our PDDL problem in a domain-specific manner with as few graph nodes and edges as possible to reduce the search space for our equivalence check.
The reduced representation also allows us to perform higher-level graph manipulations and searches more efficiently.

**[`ReducedNode`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/reduced_graph.py#L9)**:
**[`ReducedNode`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/reduced_graph.py#L9)**:

A [`ReducedNode`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/reduced_graph.py#L9) is a domain-specific set of nodes that will be added to every `ReducedSceneGraph` or `ReducedProblemGraph` object on construction. They help hold metadata for specific types of predicates (non-binary predicates, 0-ary predicates, etc.) that are defined by the domain.
A [`ReducedNode`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/reduced_graph.py#L9) is a domain-specific set of nodes that will be added to every `ReducedSceneGraph` or `ReducedProblemGraph` object on construction. They help hold metadata for specific types of predicates (non-binary predicates, 0-ary predicates, etc.) that are defined by the domain.

Here is an example on how to reduce different -ary predicates using `ReducedNode`s:

Expand All @@ -66,7 +66,7 @@ There is no easy way to reduce these predicates, so the best way to keep track o
Make sure to set the `position=` argument when adding the edge to the reduced graph to ensure you can reverse this action in your `inflate` function.

**To register your `ReducedNode`**:
At the top of your oracle script, you can call the [`ReducedNode.register`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/reduced_graph.py#L12) method, like the following:
At the top of your oracle script, you can call the [`ReducedNode.register`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/reduced_graph.py#L12) method, like the following:

```python
ReducedNode.register(
Expand All @@ -85,6 +85,6 @@ ReducedNode.register(
This will let you use your `ReducedNode` like any other enum throughout your oracle script (e.g. `ReducedNode.ROOMS`).

#### 2.3 Implementing `.plan()` (Optional)
If you would like to evaluate whether or not a problem is _solvable_, you can implement the [`.plan()`](https://github.com/BatsResearch/planetarium/blob/main/planetarium/oracles/oracle.py#L56) function in your `Oracle`.
If you would like to evaluate whether or not a problem is _solvable_, you can implement the [`.plan()`](https://github.com/BatsResearch/planetarium/blob/4ca530982baec33ebe332f62b48a622f24b0dfb2/planetarium/oracles/oracle.py#L141) function in your `Oracle`.
You will still be able to evaluate whether or not a problem is solvable without implementing this function, but it will rely on running the FastDownward planner to solve your problem, which may be *significantly* slower than using a domain-specific planner.
(Note that you should try using the `lama-first` alias if possible, as this planner does not look for the optimal plan, just a satisficing plan.)

0 comments on commit e7be47a

Please sign in to comment.