static TestDomainData[] GenTest(IHeuristic heuristic, int numTasks = 100, int numSteps = Global.MAXSTEPS, bool writeCSV = true, bool computeCost = true)
{
TestDomainData[] data = new TestDomainData[numTasks];
string csvWritePath = string.Format(Global.ROOTPATH, Global.TESTTASKFN);
CSVWriter csv = new CSVWriter(csvWritePath, ',');
for (int i = 0; i < numTasks; i++)
{
DomainContainer domainContainer = new DomainContainer(heuristic, numSteps);
ISearchDomain domain = domainContainer.Domain;
IState initState = domain.Initial();
string initStateStr = string.Join(" ", initState.Arr);
int cost = 0;
long generated = 0;
if (computeCost == true)
{
if (Global.DOMAINTYPE == typeof(BlocksWorld.BlocksWorld) && heuristic == null)
{
cost = PostBlocksWorld(initState, domain.Goal());
}
else
{
IDAStar <ISearchDomain> planner = new IDAStar <ISearchDomain>(domain);
List <IState> plan = planner.Search(initState);
cost = (plan.Count - 1);
generated = planner.Generated;
}
}
data[i] = new TestDomainData(initState.Arr, cost, generated);
csv.Add(initStateStr);
csv.Add(cost.ToString());
csv.Add(generated.ToString());
csv.EndLine();
}
if (writeCSV == true)
{
csv.Write();
}
return(data);
}
public static void TestAdmissibility(int run, string runType, int nnIndex, double?confLevel)
{
string nnFileName = string.Format(Global.NNFN, nnIndex);
string outputFileName = string.Format(Global.TESTADMISFN, confLevel == null ? "" : confLevel.ToString());
string nnLoadPath = string.Format(Global.RUNPATH, run, runType, nnFileName);
string csvWritePath = string.Format(Global.RUNPATH, run, runType, outputFileName);
CSVWriter csvWriter = new CSVWriter(csvWritePath, ',');
MyNN nnSolve = MyNN.Load(nnLoadPath);
TestDomainData[] data = ReadTestDomainData(Global.TESTTASKPATH);
IHeuristic heuristic = new NNPreTrainedHeuristic(nnSolve, representationSolve, confLevel, true);
SolveTestData(heuristic, data, csvWriter, null);
double sumExpanded = 0;
double sumGenerated = 0;
double sumOptimal = 0;
double sumCost = 0;
double sumSubOpt = 0;
for (int i = 0; i < data.Length; i++)
{
TestDomainData testDomainData = data[i];
sumExpanded += testDomainData.SolvedExpanded;
sumGenerated += testDomainData.SolvedGenerated;
sumOptimal += testDomainData.OptimalCost;
sumCost += testDomainData.SolvedCost;
sumSubOpt += testDomainData.SolvedCost / (double)testDomainData.OptimalCost;
}
Console.WriteLine("-----");
Console.WriteLine(sumExpanded / data.Length);
Console.WriteLine(sumGenerated / data.Length);
Console.WriteLine(sumOptimal / data.Length);
Console.WriteLine(sumCost / data.Length);
Console.WriteLine((sumSubOpt / data.Length) - 1);
csvWriter.Write();
}
public static void TestEfficiency(int run, string runType, int nnIndex, TestDomainData[][] testData)
{
string csvWritePath = string.Format(Global.RUNPATH, run, runType, Global.TESTEFFICFN);
string csvSummWritePath = string.Format(Global.RUNPATH, run, runType, Global.TESTEFFICFNSUMM);
CSVWriter csvWriter = new CSVWriter(csvWritePath, ',');
CSVWriter csvSummWriter = new CSVWriter(csvSummWritePath, ',');
int timeout = 60000;
string nnFileName = string.Format(Global.NNFN, nnIndex);
string nnLoadPath = string.Format(Global.RUNPATH, run, runType, nnFileName);
MyNN nnSolve = MyNN.Load(nnLoadPath);
for (int i = 0; i < testData.GetLength(0); i++)
{
csvWriter.Add(i.ToString());
csvWriter.EndLine();
csvWriter.Write();
csvWriter.Clear();
IHeuristic heuristic = new NNPreTrainedHeuristic(nnSolve, representationSolve, null, true);
int numSolved = SolveTestData(heuristic, testData[i], csvWriter, timeout);
csvSummWriter.Add(i.ToString());
csvSummWriter.Add(numSolved.ToString());
csvSummWriter.EndLine();
csvSummWriter.Write();
csvSummWriter.Clear();
}
}
static int SolveTestData(IHeuristic heuristic, TestDomainData[] data, CSVWriter csvWriter, int?timeout)
{
Stopwatch sw = new Stopwatch();
sw.Start();
int countSolved = 0;
for (int i = 0; i < data.Length; i++)
{
Console.WriteLine("iter: " + i.ToString());
if (timeout != null && sw.ElapsedMilliseconds > timeout)
{
break;
}
heuristic.ClearCache();
GC.Collect();
TestDomainData testDomainData = data[i];
DomainContainer domainContainer = new DomainContainer(heuristic, testDomainData.Init);
ISearchDomain domain = domainContainer.Domain;
IDAStar <ISearchDomain> planner = new IDAStar <ISearchDomain>(domain);
List <IState> plan = planner.Search(domain.Initial(), timeout);
testDomainData.SolvedCost = plan.Count - 1;
testDomainData.SolvedExpanded = planner.Expanded;
testDomainData.SolvedGenerated = planner.Generated;
if (testDomainData.SolvedCost > 0)
{
csvWriter.Add(planner.Expanded.ToString());
csvWriter.Add(planner.Generated.ToString());
csvWriter.Add(testDomainData.OptimalCost.ToString());
csvWriter.Add(testDomainData.SolvedCost.ToString());
csvWriter.Add(planner.SwopWatch.ElapsedMilliseconds.ToString());
csvWriter.EndLine();
csvWriter.Write();
csvWriter.Clear();
countSolved++;
}
Console.WriteLine("cost: " + (plan.Count - 1).ToString());
Console.WriteLine("generated: " + planner.Generated);
Console.WriteLine("elapsed: " + planner.SwopWatch.ElapsedMilliseconds);
}
return(countSolved);
}
public static void Train(int run, int iter, int numOutputSolve, bool genDomainFromUncert, int lengthInc, bool effRun)
{
string runType = GetRunType(numOutputSolve, genDomainFromUncert, lengthInc, effRun);
string csvWritePath = string.Format(Global.RUNPATH, run, runType, Global.TRAINFN);
int numHiddenSolve = 20;
if (multHeuristic != null)
{
numHiddenSolve = 8;
}
int?numHiddenUncert = numHiddenSolve;
if (genDomainFromUncert == false)
{
numHiddenUncert = null;
}
float dropout = 0F;
if (multHeuristic == null && numOutputSolve > 1)
{
dropout = 0.025F;
}
NNBayesHeuristic heuristic = new NNBayesHeuristic(representationSolve, representationUncert, numHiddenSolve, numOutputSolve, numHiddenUncert, dropout, true);
heuristic.ConfLevel = null;
if (numOutputSolve > 1)
{
heuristic.ConfLevel = 0.01;
}
double incConfLevel = 0.05;
double percSolvedThresh = 0.6;
int numTasks = 10;
int tMax;
if (effRun == true)
{
tMax = 1000;
}
else if (multHeuristic == null)
{
tMax = 60000;
}
else
{
tMax = 5 * 60000;
}
CSVWriter csv = new CSVWriter(csvWritePath, ',');
Stopwatch sw = new Stopwatch();
sw.Start();
int length = lengthInc;
for (int n = 0; n < iter; n++)
{
List <List <IState> > plans = new List <List <IState> >(numTasks);
int countSolved = 0;
for (int i = 0; i < numTasks; i++)
{
heuristic.ClearCache();
DomainContainer domainContainer;
if (genDomainFromUncert == true)
{
if (heuristic.IsTrained)
{
domainContainer = new DomainContainer(heuristic, Global.UNCERTTHRESH, Global.MAXSTEPS);
}
else
{
domainContainer = new DomainContainer(heuristic, 1);
}
}
else
{
domainContainer = new DomainContainer(heuristic, length);
}
ISearchDomain domain = domainContainer.Domain;
heuristic.ClearCache();
GC.Collect();
IDAStar <ISearchDomain> planner = new IDAStar <ISearchDomain>(domain);
List <IState> plan = planner.Search(domain.Initial(), tMax);
Console.WriteLine("expanded: " + planner.Expanded);
Console.WriteLine("generated: " + planner.Generated);
Console.WriteLine("elapsed: " + planner.SwopWatch.ElapsedMilliseconds);
if (plan.Count > 0)
{
countSolved++;
Console.WriteLine("solved solution length:" + plan.Count);
plans.Add(plan);
}
csv.Add(n.ToString());
csv.Add(planner.SwopWatch.ElapsedMilliseconds.ToString());
csv.Add(planner.Expanded.ToString());
csv.Add(planner.Generated.ToString());
csv.Add(heuristic.ConfLevel == null ? "NULL" : heuristic.ConfLevel.ToString());
csv.Add(plan.Count.ToString());
csv.Add(domain.NumSteps.ToString());
csv.EndLine();
}
string nnFileName = string.Format(Global.NNFN, n);
string nnSavePath = string.Format(Global.RUNPATH, run, runType, nnFileName);
heuristic.NNSolve.Save(nnSavePath, true);
double percSolved = countSolved / (double)numTasks;
if (percSolved < percSolvedThresh)
{
heuristic.UpdateBeta = false;
if (heuristic.ConfLevel != null && heuristic.ConfLevel < 0.5)
{
heuristic.ConfLevel += incConfLevel;
if (heuristic.ConfLevel > 0.5)
{
heuristic.ConfLevel = 0.5;
}
}
}
else
{
heuristic.UpdateBeta = true;
}
if (plans.Count > 0)
{
double avg = plans.Select(x => x.Count).Average();
double max = plans.Select(x => x.Count).Max();
double min = plans.Select(x => x.Count).Min();
Console.WriteLine("solved: " + plans.Count + " avg: " + avg + " max: " + max + " min: " + min);
Console.WriteLine("current conf level: " + heuristic.ConfLevel == null ? "NULL" : heuristic.ConfLevel.ToString());
}
long t = sw.ElapsedMilliseconds;
length += lengthInc;
csv.Add(t.ToString());
csv.EndLine();
csv.Write();
csv.Clear();
heuristic.Update(plans.ToArray());
}
heuristic.Dispose();
}
