On 5/26/21 1:08 PM, Anatoly Belikov wrote:
The research direction might be the integration of heuristic function
into URE for selection of the next state to expand.
The URE supports control rules, even better these control rules can be
experimentally learned, see
https://wiki.opencog.org/w/URE_Control_Rules
What's missing to bring the URE to the next level, in terms of
efficiency, is to synergize it with ECAN, but that's a big project I
have unfortunately no time for (hopefully soon though).
Nil
ср, 26 мая 2021 г. в 01:39, Linas Vepstas <[email protected]
<mailto:[email protected]>>:
Let me balance my earlier theoretical remarks with some clarifications.
-- Bindlinks are more-or-less pure crisp-logic things. Any single
one gives a pure, crisp true/false result, and you can certainly
write solvers with them.
-- The PLN rules are ways of assembling them into inference trees
with non-crisp probabilistic results.
-- Anatoly's idea sounds like a good one to me. Anything you can do
to limit the search space is always a good thing. Things like
(PresentLink
(InheritanceLink
(VariableNode "?ob")
(ConceptNode "object")))
can vastly speed the search by limiting it only to those ?ob's that
are actually objects, instead of trying everything under the sun.
This is very useful in intermediate steps, to avoid combinatoric
explosion.
-- I have no clue what ContextLinks are good for. That's a PLN thing.
Linas.
On Tue, May 25, 2021 at 10:11 AM Michele Thiella
<[email protected] <mailto:[email protected]>> wrote:
For now I have only added the ContentLinks and the rules to work
with to solve the BC of the blocksworld problem
(for example the put-down and unstack rules are missing).
It is true that I do not take into account a full state when I
do an action.
This would make sense in a general case, so that any action that
is added is correct regardless of the others, because it is
based only on the state.
Instead, the correctness of my current structure lies in the
last bindlink, the one that corresponds to the complete
inference tree that solves my goal.
The conditions for replacing VariableNodes with ConceptNodes are
accumulated among the various rules used in the tree.
So at the end the blocks will be stacked correctly and the
result will correspond to the probabilistic permutations of the
n blocks on the table taken at X (= number of blocks in my column)
For now it works (except for this RAM problem), but the unstack
and put-down rules are not there, because they are actually not
needed for correct planning.
I feel like I'm a bit cheating.
If the correct idea is to use a state it will be good to rewrite
the rules.
Although, I didn't quite understand what the problem with my
structure is.
If I do BC I can't have partial solutions so I just need the
final bindlink to contain all the necessary conditions, I don't
need them to be verified for every rule.
Certainly I have not explained well, perhaps because I have not
understood the matter well.
Michele
Il giorno martedì 25 maggio 2021 alle 16:11:37 UTC+2
[email protected] <mailto:[email protected]> ha scritto:
You introduced ContextLinks, but it doesn't provide full
state for each action. For example in pickup you create
(EvaluationLink (PredicateNode "not-clear") (VariableNode
"?ob")) for some object "?ob", but there are probably other
objects that are not free. In c++ we can represent a state
by boolean array. When applying some action we would copy
the bit-vector of the previous state and modify some bits.
You can emulate this behaviour by using ConceptNodes for
states. You can store values of all boolean variables as
properties of ConceptNode. You will have to rewrite
preconditions to call to python or scheme function:
; precondition of pickup-action
(AndLink
(PresentLink
(InheritanceLink
(VariableNode "?state")
(ConceptNode "state")))
(PresentLink
(InheritanceLink
(VariableNode "?ob")
(ConceptNode "object")))
(EvaluationLink
(GroundedPredicateNode "py: can_pickup"),
ListLink(
(VariableNode "?state")
(VariableNode "?ob")
)
)
in can_pickup you check if passed (state, object) pair
satisfies the precondition.
In ExectionOutputLink you can create a new ConceptNode for a
new state by copying all the properties from the previous
state with necessary changes.
пн, 24 мая 2021 г. в 20:27, Michele Thiella
<[email protected]>:
Hello everyone,
Finally, I was able to pass the first planning test for
the blocksword problem, using ContextLinks.
(For now, it has some ad-hoc things/rules and others
that are missing)
But, as long as I look for a column of 3 blocks
everything is fine and the times for the BC are very short,
while when I look for a column of 4 or more I go into
RAM overflow.
Unfortunately, I'm on Linux on an external sdd and the
Swap area is there.
Consequently, with a goal of 4 blocks, I use more than 8
Giga (I only have 8) and it starts swapping but the time
gets longer and I can't finish the execution.
Would anyone be able to run the test_pickup_stack.scm
file? and share me the log file?
it's in my repo:
https://github.com/raschild6/blocksworld_problem
<https://github.com/raschild6/blocksworld_problem>
Thanks a lot in advance!
(There should be no errors, just do (load
"path/to/file/test_pickup_stack.scm") in the telnet
shell. Report me if there is something wrong, thanks!)
I'm playing with the URE parameters to see if I can
optimize the inference.
(extra question) is there a URE parameter to terminate
at the first BC solution found?
Michele
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