public void AddAction(ActionDST action)
{
if (NowCanDo(action.Name))
{
this.AvailableActions.Add(action);
}
}
protected MCTSNode Expand(MCTSNode parent, ActionDST action)
{
//Console.WriteLine("Expand...");
MCTSNode child = new MCTSNode(parent.State.GenerateChildWorldModel())
{
Action = action,
Parent = parent,
Q = 0,
N = 0
};
parent.ChildNodes.Add(child);
child.Action.ApplyActionEffects(child.State);
return(child);
}
protected MCTSNode Expand(MCTSNode parent, ActionDST action)
{
WorldModelDST newState = parent.State.GenerateChildWorldModel();
action.ApplyActionEffects(newState);
var child = new MCTSNode(newState)
{
Action = action,
Parent = parent,
};
parent.ChildNodes.Add(child);
return(child);
}
protected float Playout(WorldModelDST initialPlayoutState)
{
List <ActionDST> executableActions;
ActionDST action = null;
int randomIndex;
WorldModelDST state = initialPlayoutState;
while (this.CurrentDepth < this.MaxPlayoutDepthReached)
{
executableActions = state.GetExecutableActions();
if (executableActions.Count > 0)
{
this.CurrentDepth++;
randomIndex = this.RandomGenerator.Next(0, executableActions.Count);
action = executableActions[randomIndex];
state = state.GenerateChildWorldModel();
action.ApplyActionEffects(state);
}
else
{
this.CurrentDepth++;
}
}
if (this.CurrentDepth < this.MaxPlayoutDepthReached)
{
this.CurrentDepth = this.MaxPlayoutDepthReached;
}
//Console.WriteLine("Value Heuristic:");
//Console.WriteLine(PlayoutHeuristic(state));
//Console.WriteLine("");
return(PlayoutHeuristic(state));
}
protected MCTSNode Expand(MCTSNode parent, ActionDST action)
{
//TO DO
return(new MCTSNode(new WorldModelDST()));
}
//This is where the main body of the MCTS Search must be implemented
private IEnumerable <DynamicPropertyResult> MCTSSearch(IQueryContext context, Name actionVar, Name targetVar)
{
//How to clone the KB with our JSON serializer
var jsonSerializer = new JSONSerializer();
var memStream = new MemoryStream();
var json = jsonSerializer.SerializeToJson(this.m_kb);
var kbCloned = jsonSerializer.DeserializeFromJson <KB>(json);
//Escrever comentário
if (this.NextActionInfo.Item1 != "")
{
NextAction PriorityAction = new NextAction(NextActionInfo.Item1, kbCloned);
if (this.NextActionInfo.Item2 <= 1)
{
this.NextActionInfo = new Pair <string, int>("", 0);
}
else
{
this.NextActionInfo.Item2 -= 1;
}
Pair <string, string> pairOfPriorityAction = PriorityAction.ConstructNextAction();
this.ToDoActionsList.Add(pairOfPriorityAction);
}
if (this.ToDoActionsList.Count == 0)
{
PreWorldState preWorldState = new PreWorldState(kbCloned);
//, this.UnequippableTorches, this.EquippedItems);
WorldModelDST worldModel = new WorldModelDST(preWorldState);
foreach (var action in worldModel.AvailableActions)
{
Console.WriteLine(action.Name);
}
Console.WriteLine("");
this.Mcts = new MCTSAlgorithm(worldModel);
this.Mcts.InitializeMCTSearch();
ActionDST MacroAction = this.Mcts.Run();
//this.LastActionInfo = MacroAction.Name;
this.ToDoActionsList = MacroAction.Decompose(preWorldState);
this.NextActionInfo = MacroAction.NextActionInfo();
this.NextActionInfo.Item1 = preWorldState.CompleteNextActionInfo(this.NextActionInfo.Item1);
}
Pair <string, string> CurrentAction = this.ToDoActionsList[0];
this.ToDoActionsList.Remove(CurrentAction);
Console.WriteLine("Next Action:");
Console.WriteLine(CurrentAction.Item1 + " " + CurrentAction.Item2);
Console.WriteLine("");
//UpdateEquippedItems(CurrentAction);
var actionSub = new Substitution(actionVar, new ComplexValue(Name.BuildName(CurrentAction.Item1)));
var targetSub = new Substitution(targetVar, new ComplexValue(Name.BuildName(CurrentAction.Item2)));
//var actionSub = new Substitution(actionVar, new ComplexValue(Name.BuildName("Action(WALKTO, -, "+ posxWalter.ToString() +", " + poszWalter.ToString() + ", -)")));
//var targetSub = new Substitution(targetVar, new ComplexValue(Name.BuildName("-")));
foreach (var subSet in context.Constraints)
{
subSet.AddSubstitution(actionSub);
subSet.AddSubstitution(targetSub);
yield return(new DynamicPropertyResult(new ComplexValue(Name.BuildName(true), 1.0f), subSet));
}
}