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HTN_Plan_Reuse
Commit 1227f1f6 authored by DennisSoemers's avatar DennisSoemers
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cleaned up code a little bit

parent 42a808bb
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Showing with 8 additions and 304 deletions
HTN_Plugin/Source/HTN_Plugin/Classes/HTNPlanner/HTNPlan.h
View file @ 1227f1f6
......@@ -23,15 +23,10 @@ public:
void AppendTaskInstance(const TSharedPtr<FHTNTaskInstance>& NewTaskInstance);
void AppendTaskInstances(const TArray<TSharedPtr<FHTNTaskInstance>>& NewTaskInstances);
TSharedPtr<FHTNPlan> Copy();
int32 GetLastStreakScore(const TSharedPtr<FHTNPlan>& OtherPlan, int32 MinStreakLength) const;
int32 GetLongestMatchingStreak(const TSharedPtr<FHTNPlan>& OtherPlan, int32 MinStreakLength) const;
int32 GetMatchingCompounds(const TSharedPtr<FHTNPlan>& OtherPlan, const TSharedPtr<FHTNTaskInstance>& TaskNetwork) const;
int32 GetMatchingStreak(const TSharedPtr<FHTNPlan>& OtherPlan, int32 MinStreakLength) const;
int32 GetPlanSize() const;
int32 GetPotentialSimilarity(const TSharedPtr<FHTNPlan>& OtherPlan, const TSharedPtr<FHTNTaskInstance>& TaskNetwork) const;
int32 GetRemainingPlanSize() const;
int32 GetSimilarity(const TSharedPtr<FHTNPlan>& OtherPlan, const TSharedPtr<FHTNTaskInstance>& TaskNetwork) const;
int32 GetStreakScore(const TSharedPtr<FHTNPlan>& OtherPlan, int32 MinStreakLength) const;
TSharedPtr<FHTNTaskInstance> GetTaskInstanceToExecute();
const TArray<TSharedPtr<FHTNTaskInstance>>& GetSearchHistory() const;
const TArray<TSharedPtr<FHTNTaskInstance>>& GetTasks() const;
......
HTN_Plugin/Source/HTN_Plugin/Classes/HTNPlanner/HTNPlannerComponent.h
View file @ 1227f1f6
......@@ -224,8 +224,6 @@ protected:
/** Flag used for probabilistic plan reuse */
uint8 bIgnoringPlanReuse : 1;
/** If true, plan reuse uses an adaptive minimum streak length instead of a constant */
uint8 bAdaptivePlanReuse : 1;
/** If true, we do a depth-first search. Otherwise, breadth-first/A* style search */
uint8 bDepthFirstSearch : 1;
/** if set, execution requests will be postponed */
......
HTN_Plugin/Source/HTN_Plugin/Private/HTNPlanner/HTNPlan.cpp
View file @ 1227f1f6
......@@ -39,61 +39,6 @@ TSharedPtr<FHTNPlan> FHTNPlan::Copy()
return Copy;
}
int32 FHTNPlan::GetLastStreakScore(const TSharedPtr<FHTNPlan>& OtherPlan, int32 MinStreakLength) const
{
if(!OtherPlan.IsValid())
{
return 0;
}
const TArray<TSharedPtr<FHTNTaskInstance>>& MyTasks = GetSearchHistory();
const TArray<TSharedPtr<FHTNTaskInstance>>& OtherTasks = OtherPlan->GetSearchHistory();
int32 StreakLength = 0;
int32 FirstMatchFound = -1;
int32 LastMatchFound = OtherTasks.Num();
for(int32 MyIdx = MyTasks.Num() - 1; MyIdx >= 0; --MyIdx)
{
const TSharedPtr<FHTNTaskInstance>& MyTask = MyTasks[MyIdx];
bool bFoundMatch = false;
for(int32 OtherIdx = LastMatchFound - 1; OtherIdx >= 0; --OtherIdx)
{
const TSharedPtr<FHTNTaskInstance>& OtherTask = OtherTasks[OtherIdx];
if(MyTask->Task == OtherTask->Task && MyTask->GetUint8Memory() == OtherTask->GetUint8Memory())
{
// found a match
++StreakLength;
LastMatchFound = OtherIdx;
bFoundMatch = true;
if(FirstMatchFound == -1)
{
// this is the first matching task we found
FirstMatchFound = OtherIdx;
}
break;
}
}
if(!bFoundMatch && FirstMatchFound != -1)
{
// we have found a streak somewhere but it ended now
break;
}
}
if(StreakLength < MinStreakLength)
{
return 0;
}
return FMath::Max(0, StreakLength - (OtherTasks.Num() - 1 - FirstMatchFound));
}
int32 FHTNPlan::GetLongestMatchingStreak(const TSharedPtr<FHTNPlan>& OtherPlan, int32 MinStreakLength) const
{
if(!OtherPlan.IsValid())
......@@ -148,49 +93,6 @@ int32 FHTNPlan::GetLongestMatchingStreak(const TSharedPtr<FHTNPlan>& OtherPlan,
return LongestStreakLength;
}
int32 FHTNPlan::GetMatchingCompounds(const TSharedPtr<FHTNPlan>& OtherPlan, const TSharedPtr<FHTNTaskInstance>& TaskNetwork) const
{
if(!OtherPlan.IsValid())
{
return 0;
}
TArray<TSharedPtr<FHTNTaskInstance>> MyTasks = GetSearchHistory();
const TArray<TSharedPtr<FHTNTaskInstance>>& OtherTasks = OtherPlan->GetSearchHistory();
// we'll append all tasks in TaskNetwork to MyTasks, since we know we'll be executing them in the future
UTaskNetwork* Network = Cast<UTaskNetwork>(TaskNetwork->Task);
TArray<TSharedPtr<FHTNTaskInstance>> NetworkInstances = Network->CollectAllTasks(TaskNetwork->GetMemory());
MyTasks.Append(NetworkInstances);
int32 MatchingCompounds = 0; // the number of matching compound tasks that we have found so far
for(int32 MyIdx = 0; MyIdx < MyTasks.Num(); ++MyIdx)
{
const TSharedPtr<FHTNTaskInstance>& MyTask = MyTasks[MyIdx];
if(!MyTask->Task->IsA(UCompoundTask::StaticClass()))
{
continue; // only care about compounds
}
// try to find MyTask in OtherTasks
for(int32 OtherIdx = 0; OtherIdx < OtherTasks.Num(); ++OtherIdx)
{
const TSharedPtr<FHTNTaskInstance>& OtherTask = OtherTasks[OtherIdx];
if(MyTask->Task == OtherTask->Task && MyTask->GetUint8Memory() == OtherTask->GetUint8Memory())
{
// found a match
++MatchingCompounds;
break;
}
}
}
return MatchingCompounds;
}
int32 FHTNPlan::GetMatchingStreak(const TSharedPtr<FHTNPlan>& OtherPlan, int32 MinStreakLength) const
{
if(!OtherPlan.IsValid())
......@@ -258,155 +160,11 @@ int32 FHTNPlan::GetPlanSize() const
return TaskInstances.Num();
}
// makes everything slow and finds bad solutions first
int32 FHTNPlan::GetPotentialSimilarity(const TSharedPtr<FHTNPlan>& OtherPlan, const TSharedPtr<FHTNTaskInstance>& TaskNetwork) const
{
if(!OtherPlan.IsValid())
{
return 0;
}
TArray<TSharedPtr<FHTNTaskInstance>> MyTasks = GetSearchHistory();
const TArray<TSharedPtr<FHTNTaskInstance>>& OtherTasks = OtherPlan->GetSearchHistory();
// we'll append all tasks in TaskNetwork to MyTasks, since we know we'll be executing them in the future
UTaskNetwork* Network = Cast<UTaskNetwork>(TaskNetwork->Task);
TArray<TSharedPtr<FHTNTaskInstance>> NetworkInstances = Network->CollectAllTasks(TaskNetwork->GetMemory());
MyTasks.Append(NetworkInstances);
int32 MatchingTasks = 0; // the number of matching tasks that we have found so far
int32 LastMatchFound = -1; // the last index in the OtherTasks array in which we have found a match
for(int32 MyIdx = 0; MyIdx < MyTasks.Num(); ++MyIdx)
{
const TSharedPtr<FHTNTaskInstance>& MyTask = MyTasks[MyIdx];
// try to find MyTask in the remaining part of OtherTasks
for(int32 OtherIdx = LastMatchFound + 1; OtherIdx < OtherTasks.Num(); ++OtherIdx)
{
const TSharedPtr<FHTNTaskInstance>& OtherTask = OtherTasks[OtherIdx];
if(MyTask->Task == OtherTask->Task && MyTask->GetUint8Memory() == OtherTask->GetUint8Memory())
{
// found a match
++MatchingTasks;
LastMatchFound = OtherIdx;
break;
}
}
}
// maximum potential similarity = number of matching tasks so far + number of tasks remaining at the end of OtherPlan
return (MatchingTasks + OtherTasks.Num() - LastMatchFound - 1);
}
int32 FHTNPlan::GetRemainingPlanSize() const
{
return TaskInstances.Num() - ExecutionIndex;
}
// Finds good plans first, but slows down everything (too expensive computationally?)
int32 FHTNPlan::GetSimilarity(const TSharedPtr<FHTNPlan>& OtherPlan, const TSharedPtr<FHTNTaskInstance>& TaskNetwork) const
{
if(!OtherPlan.IsValid())
{
return 0;
}
TArray<TSharedPtr<FHTNTaskInstance>> MyTasks = GetSearchHistory();
const TArray<TSharedPtr<FHTNTaskInstance>>& OtherTasks = OtherPlan->GetSearchHistory();
// we'll append all tasks in TaskNetwork to MyTasks, since we know we'll be executing them in the future
UTaskNetwork* Network = Cast<UTaskNetwork>(TaskNetwork->Task);
TArray<TSharedPtr<FHTNTaskInstance>> NetworkInstances = Network->CollectAllTasks(TaskNetwork->GetMemory());
MyTasks.Append(NetworkInstances);
int32 MatchingTasks = 0; // the number of matching tasks that we have found so far
int32 LastMatchFound = -1; // the last index in the OtherTasks array in which we have found a match
for(int32 MyIdx = 0; MyIdx < MyTasks.Num(); ++MyIdx)
{
const TSharedPtr<FHTNTaskInstance>& MyTask = MyTasks[MyIdx];
// try to find MyTask in the remaining part of OtherTasks
for(int32 OtherIdx = LastMatchFound + 1; OtherIdx < OtherTasks.Num(); ++OtherIdx)
{
const TSharedPtr<FHTNTaskInstance>& OtherTask = OtherTasks[OtherIdx];
if(MyTask->Task == OtherTask->Task && MyTask->GetUint8Memory() == OtherTask->GetUint8Memory())
{
// found a match
++MatchingTasks;
LastMatchFound = OtherIdx;
break;
}
}
}
return MatchingTasks;
}
int32 FHTNPlan::GetStreakScore(const TSharedPtr<FHTNPlan>& OtherPlan, int32 MinStreakLength) const
{
if(!OtherPlan.IsValid())
{
return 0;
}
const TArray<TSharedPtr<FHTNTaskInstance>>& MyTasks = GetSearchHistory();
const TArray<TSharedPtr<FHTNTaskInstance>>& OtherTasks = OtherPlan->GetSearchHistory();
int32 StreakLength = 0;
int32 LastMatchFound = OtherTasks.Num();
bool bImmediateStreak = true;
bool bStartedStreak = false;
for(int32 MyIdx = MyTasks.Num() - 1; MyIdx >= 0; --MyIdx)
{
const TSharedPtr<FHTNTaskInstance>& MyTask = MyTasks[MyIdx];
bool bFoundMatch = false;
for(int32 OtherIdx = LastMatchFound - 1; OtherIdx >= 0; --OtherIdx)
{
const TSharedPtr<FHTNTaskInstance>& OtherTask = OtherTasks[OtherIdx];
if(MyTask->Task == OtherTask->Task && MyTask->GetUint8Memory() == OtherTask->GetUint8Memory())
{
// found a match
++StreakLength;
LastMatchFound = OtherIdx;
bFoundMatch = true;
bStartedStreak = true;
break;
}
}
if(!bFoundMatch) // end of the streak
{
if(bStartedStreak)
{
break;
}
else
{
bImmediateStreak = false;
}
}
}
if(StreakLength < MinStreakLength)
{
return 0;
}
if(!bImmediateStreak)
{
StreakLength = (int32)(0.5f * StreakLength);
}
return StreakLength;
}
TSharedPtr<FHTNTaskInstance> FHTNPlan::GetTaskInstanceToExecute()
{
if(TaskInstances.IsValidIndex(ExecutionIndex))
......
HTN_Plugin/Source/HTN_Plugin/Private/HTNPlanner/HTNPlannerComponent.cpp
View file @ 1227f1f6
......@@ -29,7 +29,6 @@ UHTNPlannerComponent::UHTNPlannerComponent(const FObjectInitializer& ObjectIniti
PreviousPlan = nullptr;
NumStackElements = 0;
bAdaptivePlanReuse = false;
DefaultMinMatchingStreakLength = 10;
MinMatchingStreakLength = DefaultMinMatchingStreakLength;
......@@ -67,18 +66,13 @@ void UHTNPlannerComponent::AddStackElement(const FHTNStackElement& StackElement)
// this node is continuing a streak
StreakStacks[CurrentMatchingStreakLength].Push(StackElement);
MaxCurrentMatchingStreakLength = FMath::Max(MaxCurrentMatchingStreakLength, CurrentMatchingStreakLength);
//MinMatchingStreakLength = MaxCurrentMatchingStreakLength;
}
else if(MaxCurrentMatchingStreakLength > 0)
{
// this node is no longer continuing a streak, but it did previously have a streak
//int32 LongestOldStreak = StackElement.Plan->GetLongestMatchingStreak(PreviousPlan, MinMatchingStreakLength);
//StreakEndedQueues[LongestOldStreak].Enqueue(StackElement);
StreakEndedQueues[MaxCurrentMatchingStreakLength].Enqueue(StackElement);
MaxEndedMatchingStreakLength = FMath::Max(MaxEndedMatchingStreakLength,
MaxCurrentMatchingStreakLength/*LongestOldStreak*/);
//StreakEndedQueues[1].Enqueue(StackElement);
//MaxEndedMatchingStreakLength = 1;
MaxCurrentMatchingStreakLength);
}
else if(MaxPastMatchingStreakLength > 0)
{
......@@ -128,8 +122,6 @@ FHTNStackElement UHTNPlannerComponent::PopStackElement()
}
else if(MaxCurrentMatchingStreakLength > 0)
{
//UE_LOG(LogHTNPlanner, Warning, TEXT("Popping from StreakStacks with MaxCurrentMatchingStreakLength = %d"),
// MaxCurrentMatchingStreakLength);
// we can pop a node that's currently in a matching streak
return StreakStacks[MaxCurrentMatchingStreakLength].Pop(false);
}
......@@ -293,8 +285,6 @@ void UHTNPlannerComponent::OnTaskFinished(TSharedPtr<FHTNTaskInstance> TaskInsta
if(TaskResult != EHTNExecutionResult::InProgress)
{
//GEngine->AddOnScreenDebugMessage(-1, 1.5f, FColor::Yellow, TEXT("UHTNPlannerComponent::OnTaskFinished()"));
// cleanup task observers
UnregisterMessageObserversFrom(TaskInstance);
......@@ -358,14 +348,6 @@ void UHTNPlannerComponent::ProcessExecutionRequest()
return;
}
/**
* Implementation of the following algorithm that searches for the plan based on:
* Menif, A., Jacopin, ., & Cazenave, T. (2014). SHPE: HTN Planning for Video Games.
* In Computer Games (pp. 119-132). Springer International Publishing.
*
* (link: http://www.lamsade.dauphine.fr/~cazenave/papers/MenifCGW2014.pdf)
*/
if(NumStackElements == 0)
{
//BestPlan = nullptr;
......@@ -411,6 +393,11 @@ void UHTNPlannerComponent::ProcessExecutionRequest()
++NumNodesExpanded;
#endif
if(PreviousPlan.IsValid())
{
UE_LOG(LogHTNPlanner, Warning, TEXT("%d nodes in data structure(s)"), NumStackElements);
}
if(bProbabilisticPlanReuse && bHitLeaf)
{
// we've hit a leaf node, so it's time to re-evaluate whether we're ignoring plan reuse probabilistically
......@@ -440,16 +427,6 @@ void UHTNPlannerComponent::ProcessExecutionRequest()
if(PreviousPlan.IsValid()) // we're doing plan reuse
{
//if(bAdaptivePlanReuse)
//{
// ++NumLeaves;
// TotalLeafStreakLengths += StackTop.Plan->GetLongestMatchingStreak(PreviousPlan, MinMatchingStreakLength);
//}
//if(bProbabilisticPlanReuse)
//{
// bHitLeaf = true;
//}
// verify that all of our values of maximum streak lengths among unprocessed nodes are still correct
UpdateMaxStreakLengths();
}
......@@ -494,11 +471,6 @@ void UHTNPlannerComponent::ProcessExecutionRequest()
if(PreviousPlan.IsValid()) // we're doing plan reuse
{
/*if(bAdaptivePlanReuse)
{
++NumLeaves;
TotalLeafStreakLengths += StackTop.Plan->GetLongestMatchingStreak(PreviousPlan, MinMatchingStreakLength);
}*/
if(bProbabilisticPlanReuse)
{
bHitLeaf = true;
......@@ -547,11 +519,6 @@ void UHTNPlannerComponent::ProcessExecutionRequest()
}
else if(PreviousPlan.IsValid())
{
/*if(bAdaptivePlanReuse)
{
++NumLeaves;
TotalLeafStreakLengths += StackTop.Plan->GetLongestMatchingStreak(PreviousPlan, MinMatchingStreakLength);
}*/
if(bProbabilisticPlanReuse)
{
bHitLeaf = true;
......@@ -573,11 +540,6 @@ void UHTNPlannerComponent::ProcessExecutionRequest()
if(Decompositions.Num() == 0) // leaf node
{
/*if(bAdaptivePlanReuse)
{
++NumLeaves;
TotalLeafStreakLengths += StackTop.Plan->GetLongestMatchingStreak(PreviousPlan, MinMatchingStreakLength);
}*/
if(bProbabilisticPlanReuse)
{
bHitLeaf = true;
......@@ -1120,15 +1082,4 @@ void UHTNPlannerComponent::UpdateMaxStreakLengths()
break;
}
}
/*if(bAdaptivePlanReuse && NumLeaves > 0)
{
//int32 Previous = MinMatchingStreakLength;
MinMatchingStreakLength = FMath::Max(DefaultMinMatchingStreakLength, (int32)(1.1f * (TotalLeafStreakLengths / NumLeaves)));
//if(MinMatchingStreakLength != Previous)
//{
//UE_LOG(LogHTNPlanner, Warning, TEXT("Setting MinMatchingStreakLength to %d"), MinMatchingStreakLength);
//}
}*/
}
\ No newline at end of file
HTN_Plugin/Source/HTN_Plugin/Private/JSHOP2_Experiments/SimpleFPS/JSHOP2_ExperimenterSimpleFPS.cpp
View file @ 1227f1f6
......@@ -82,6 +82,8 @@ void AJSHOP2_ExperimenterSimpleFPS::InitializeWorldState(FHTNWorldState_SimpleFP
//InitializationSeed = 27207;
//InitializationSeed = 13123;
InitializationSeed = FMath::Rand();
bInitializationSeedSet = true;
HTNComp->DataCollector->SetWorldStateSeed(InitializationSeed);
......
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