Skip to content

Commit

Permalink
[issue1089] Remove obedient-reasonable ordering type.
Browse files Browse the repository at this point in the history 
We remove this landmark ordering type as it is no longer used after
generating the orderings.
  • Loading branch information
@ClemensBuechner
ClemensBuechner authored Aug 4, 2023
1 parent 1070582 commit bd3c636
Show file tree
Hide file tree
Showing 5 changed files with 39 additions and 50 deletions.
7 changes: 3 additions & 4 deletions src/search/landmarks/landmark_factory.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,7 @@ void LandmarkFactory::edge_add(LandmarkNode &from, LandmarkNode &to,
*/
assert(&from != &to);

if (type == EdgeType::REASONABLE || type == EdgeType::OBEDIENT_REASONABLE) { // simple cycle test
if (type == EdgeType::REASONABLE) { // simple cycle test
if (from.parents.find(&to) != from.parents.end()) { // Edge in opposite direction exists
if (log.is_at_least_debug()) {
log << "edge in opposite direction exists" << endl;
Expand Down Expand Up @@ -160,8 +160,7 @@ void LandmarkFactory::mk_acyclic_graph() {
// the old method for this is no longer available.
// assert(acyclic_node_set.size() == number_of_landmarks());
if (log.is_at_least_normal()) {
log << "Removed " << removed_edges
<< " reasonable or obedient reasonable orders" << endl;
log << "Removed " << removed_edges << " reasonable orders" << endl;
}
}

Expand All @@ -179,7 +178,7 @@ void LandmarkFactory::remove_first_weakest_cycle_edge(
to = next(it2)->first;
weakest_edge = edge;
}
if (weakest_edge == EdgeType::OBEDIENT_REASONABLE) {
if (weakest_edge == EdgeType::REASONABLE) {
break;
}
}
Expand Down
65 changes: 30 additions & 35 deletions src/search/landmarks/landmark_factory_reasonable_orders_hps.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,22 +28,14 @@ void LandmarkFactoryReasonableOrdersHPS::generate_landmarks(const shared_ptr<Abs
if (log.is_at_least_normal()) {
log << "approx. reasonable orders" << endl;
}
approximate_reasonable_orders(task_proxy, false);
if (log.is_at_least_normal()) {
log << "approx. obedient reasonable orders" << endl;
}
approximate_reasonable_orders(task_proxy, true);

approximate_reasonable_orders(task_proxy);
mk_acyclic_graph();
}

void LandmarkFactoryReasonableOrdersHPS::approximate_reasonable_orders(
const TaskProxy &task_proxy, bool obedient_orders) {
const TaskProxy &task_proxy) {
/*
Approximate reasonable and obedient reasonable orders according
to Hoffmann et al. If flag "obedient_orders" is true, we
calculate obedient reasonable orders, otherwise reasonable
orders.
Approximate reasonable orders according to Hoffmann et al.
If node_p is in goal, then any node2_p which interferes with
node_p can be reasonably ordered before node_p. Otherwise, if
Expand All @@ -62,7 +54,7 @@ void LandmarkFactoryReasonableOrdersHPS::approximate_reasonable_orders(
if (landmark.is_true_in_state(initial_state))
return;

if (!obedient_orders && landmark.is_true_in_goal) {
if (landmark.is_true_in_goal) {
for (auto &node2_p : lm_graph->get_nodes()) {
const Landmark &landmark2 = node2_p->get_landmark();
if (landmark == landmark2 || landmark2.disjunctive)
Expand All @@ -84,11 +76,10 @@ void LandmarkFactoryReasonableOrdersHPS::approximate_reasonable_orders(
const EdgeType &edge = p.second;
if (parent_node.get_landmark().disjunctive)
continue;
if ((edge >= EdgeType::NATURAL || (obedient_orders && edge == EdgeType::REASONABLE)) &&
&parent_node != node_p.get()) {
if (edge >= EdgeType::NATURAL && &parent_node != node_p.get()) {
// find predecessors or parent and collect in "interesting nodes"
interesting_nodes.insert(&parent_node);
collect_ancestors(interesting_nodes, parent_node, obedient_orders);
collect_ancestors(interesting_nodes, parent_node);
}
}
}
Expand All @@ -100,10 +91,7 @@ void LandmarkFactoryReasonableOrdersHPS::approximate_reasonable_orders(
if (landmark == landmark2 || landmark2.disjunctive)
continue;
if (interferes(task_proxy, landmark2, landmark)) {
if (!obedient_orders)
edge_add(*node2_p, *node_p, EdgeType::REASONABLE);
else
edge_add(*node2_p, *node_p, EdgeType::OBEDIENT_REASONABLE);
edge_add(*node2_p, *node_p, EdgeType::REASONABLE);
}
}
}
Expand Down Expand Up @@ -221,8 +209,7 @@ bool LandmarkFactoryReasonableOrdersHPS::interferes(
}

void LandmarkFactoryReasonableOrdersHPS::collect_ancestors(
unordered_set<LandmarkNode *> &result,
LandmarkNode &node, bool use_reasonable) {
unordered_set<LandmarkNode *> &result, LandmarkNode &node) {
/* Returns all ancestors in the landmark graph of landmark node "start" */

// There could be cycles if use_reasonable == true
Expand All @@ -231,24 +218,21 @@ void LandmarkFactoryReasonableOrdersHPS::collect_ancestors(
for (const auto &p : node.parents) {
LandmarkNode &parent = *(p.first);
const EdgeType &edge = p.second;
if (edge >= EdgeType::NATURAL || (use_reasonable && edge == EdgeType::REASONABLE))
if (closed_nodes.count(&parent) == 0) {
open_nodes.push_back(&parent);
closed_nodes.insert(&parent);
result.insert(&parent);
}
if (edge >= EdgeType::NATURAL && closed_nodes.count(&parent) == 0) {
open_nodes.push_back(&parent);
closed_nodes.insert(&parent);
result.insert(&parent);
}
}
while (!open_nodes.empty()) {
LandmarkNode &node2 = *(open_nodes.front());
for (const auto &p : node2.parents) {
LandmarkNode &parent = *(p.first);
const EdgeType &edge = p.second;
if (edge >= EdgeType::NATURAL || (use_reasonable && edge == EdgeType::REASONABLE)) {
if (closed_nodes.count(&parent) == 0) {
open_nodes.push_back(&parent);
closed_nodes.insert(&parent);
result.insert(&parent);
}
if (edge >= EdgeType::NATURAL && closed_nodes.count(&parent) == 0) {
open_nodes.push_back(&parent);
closed_nodes.insert(&parent);
result.insert(&parent);
}
}
open_nodes.pop_front();
Expand Down Expand Up @@ -382,8 +366,7 @@ class LandmarkFactoryReasonableOrdersHPSFeature : public plugins::TypedFeature<L
LandmarkFactoryReasonableOrdersHPSFeature() : TypedFeature("lm_reasonable_orders_hps") {
document_title("HPS Orders");
document_synopsis(
"Adds reasonable orders and obedient reasonable orders "
"described in the following paper" +
"Adds reasonable orders described in the following paper" +
utils::format_journal_reference(
{"Jörg Hoffmann", "Julie Porteous", "Laura Sebastia"},
"Ordered Landmarks in Planning",
Expand All @@ -393,6 +376,18 @@ class LandmarkFactoryReasonableOrdersHPSFeature : public plugins::TypedFeature<L
"215-278",
"2004"));

document_note(
"Obedient-reasonable orders",
"Hoffmann et al. (2004) suggest obedient-reasonable orders in "
"addition to reasonable orders. Obedient-reasonable orders were "
"later also used by the LAMA planner (Richter and Westphal, 2010). "
"They are \"reasonable orders\" under the assumption that all "
"(non-obedient) reasonable orders are actually \"natural\", i.e., "
"every plan obeys the reasonable orders. We observed "
"experimentally that obedient-reasonable orders have minimal "
"effect on the performance of LAMA (Büchner et al., 2023) and "
"decided to remove them in issue1089.");

add_option<shared_ptr<LandmarkFactory>>("lm_factory");
add_landmark_factory_options_to_feature(*this);

Expand Down
5 changes: 2 additions & 3 deletions src/search/landmarks/landmark_factory_reasonable_orders_hps.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -10,13 +10,12 @@ class LandmarkFactoryReasonableOrdersHPS : public LandmarkFactory {
virtual void generate_landmarks(const std::shared_ptr<AbstractTask> &task) override;

void approximate_reasonable_orders(
const TaskProxy &task_proxy, bool obedient_orders);
const TaskProxy &task_proxy);
bool interferes(
const TaskProxy &task_proxy, const Landmark &landmark_a,
const Landmark &landmark_b) const;
void collect_ancestors(
std::unordered_set<LandmarkNode *> &result,
LandmarkNode &node, bool use_reasonable);
std::unordered_set<LandmarkNode *> &result, LandmarkNode &node);
bool effect_always_happens(
const VariablesProxy &variables, const EffectsProxy &effects,
std::set<FactPair> &eff) const;
Expand Down
9 changes: 4 additions & 5 deletions src/search/landmarks/landmark_graph.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,10 @@ enum class EdgeType {
special case of greedy-necessary, i.e., every necessary ordering is
greedy-necessary, but not vice versa.
*/
NECESSARY = 4,
GREEDY_NECESSARY = 3,
NATURAL = 2,
REASONABLE = 1,
OBEDIENT_REASONABLE = 0
NECESSARY = 3,
GREEDY_NECESSARY = 2,
NATURAL = 1,
REASONABLE = 0
};

class LandmarkNode {
Expand Down
3 changes: 0 additions & 3 deletions src/search/landmarks/util.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -130,9 +130,6 @@ static void dump_edge(int from, int to, EdgeType edge, utils::LogProxy &log) {
case EdgeType::REASONABLE:
cout << "\"r\", style=dashed";
break;
case EdgeType::OBEDIENT_REASONABLE:
cout << "\"o_r\", style=dashed";
break;
}
cout << "];\n";
}
Expand Down

0 comments on commit bd3c636

Please sign in to comment.